That's a pretty well-solved problem at this point, if you want to do it yourself. You'll want some kind of NeRF tool and a way to calculate the camera poses of the photos you took. COLMAP is the tool most people use for the latter.

I'd recommend trying Instant Neural Graphics Primitives (https://github.com/NVlabs/instant-ngp) from NVIDIA. It's a couple years old, so not state-of-the-art, but it runs on just about anything and is extremely fast.

That is the entire science of photogrammetry. Which has made tremendous progress in the past 10 years. There's many tools which will do it for you.