A method for reconstructing a surface of a three-dimensional object involves a projection of a laser spot pattern onto the surface of the three-dimensional object by a laser, and a generation of a series of endoscopic images as an endoscope is translated and/or rotated relative to the three-dimensional object. Each endoscopic image illustrates a different view of a laser spot array within the laser spot pattern as projected onto the surface of the three-dimensional object by the laser. The laser spot array may be identical to or a subset of the laser spot pattern. The method further involves a reconstruction of the surface of the three-dimensional object from a correspondence of the different views of the laser spot array as illustrated in the endoscopic images.