1. A method comprising: matching features across multiple images of an object to obtain a sparse set of patches for the object; expanding the sparse set of patches to obtain a dense set of patches for the object, the expanding comprising: creating a patch candidate; determining, for the patch candidate, whether there are at least a threshold number of images of the multiple images having pairwise photometric discrepancy scores with a reference image of the multiple images that are less than a threshold value; and including the patch candidate in the dense set of patches only if there are at least the threshold number of images of the multiple images having pairwise photometric discrepancy scores with the reference image of the multiple images less than the threshold value; filtering the dense set of patches to remove false matches; and repeating the expanding and filtering one or more times, each time expanding the dense set of patches obtained by the previously performed filtering.