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Hi,

the answer by @Ben is a good direction to search. I suggest you also take a look to this kind of systems (and the relevant pubblications cited in the website

this talk will introduce you to the topic and to the various (actually, a lot) possible approaches.
PMVS2 this is a 3D reconstruction tool from multiple images, it provides a sparse/dense reconstruction on the scene.
VisualSFM it's basically very similar to the above but a lot improved with gpu.

They both give you as output points. I guess you prefer to have some sort of geometric surfaces fitted to that data, which may be the starting point for you. Also it depends a lot on the prior knowledge you have about the shapes you want to recover: if you know that the objects are man-made with simple geometric shapes like then you can set and impose some constraints during the 3D reconstruction so that you get as output geometric primitives (box planes and so on) describing your object. For example this may be a first point to start.

Hope it helps