3D point reconstruction from 2D images

Question

I know this must exist, but I'm having enormous trouble finding the right search terms.

Say I have a bunch of labelled 3D points, and I capture multiple 2D images of it. If I want to reconstruct the 3D points, are there well-established algorithms/libraries for doing this?

This is presumably the basis for 3D facial recognition, which is a well-established field of research, but the general case (i.e. non-faces) doesn't seem to have an obvious literature that I can find.

One way I can see for approaching this is an optimisation problem where each 2D image establishes a minimum distance constraint between each point, and one can reconstruct the 3D points by minimising the distance required to satisfy these constraints. This does feel like one of those problems that has a sneaky linear algebra solution, though.

Does this class of problem have a literature I can search? Does it have existing libraries? (I'd be really surprised if there wasn't something in OpenCV, but I don't really know what I'm looking for)