Aerial 3D Image processing

Does anyone know of a open source or a inexpensive 3D modeling software package that can process from still images or video.  My idea is to program a UAV to fly a route taking pictures along the way (3D Mapping then when it comes across a structure I can reprogram in flight to fly a path around a structure in order to get enough photos or video to render a 3D image. Processing could be done on board, on the ground real time or post flight. Also does anyone know if these can be geotagged and upload the final product to a program like google earth? Id like to have the capability to also do multiple structures and terrain mapping on the same flight.

Thanks

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