In the geosciences there has been a bit of research in the past 10 years using Structure from Motion techniques on images collected from normal cameras suspended from balloons, if a drone isn't available.

Both of these papers discuss making 3D models of topography on the scale of a house and yard. You can also probably get colors mapped onto the surfaces.

(Note that I believe both use AgiSoft structure from motion software, which is probably expensive. I have no idea what the FOSS options are.)

[1]: https://pubs.geoscienceworld.org/gsa/geosphere/article/10/5/...

[2]: https://www.researchgate.net/profile/Steven_Micklethwaite/pu...