The United States of America has an estimate of 84,000 dams of which approximately 15,500 are rated as high-risk as of 2016. Recurrent geological and structural health changes require dam assets to be subject to continuous structural monitoring, assessment and restoration. The objective of the developed system is targeted at evaluating the feasibility for standardization in remote, digital inspections of the outflow works of such assets to replace human visual inspections. This work proposes both a mobile inspection platform and an image processing pipeline to reconstruct 3D models of the outflow tunnel and gates of dams for structural defect identification. We begin by presenting the imaging system with consideration to lighting conditions and acquisition strategies. We then propose and formulate global optimization constraints that optimize system poses and geometric estimates of the environment. Following that, we present a RANSAC frame-work that fits geometric cylinder primitives for texture projection and geometric deviation, as well as an interactive annotation frame-work for 3D anomaly marking. Results of the system and processing are demonstrated at the Blue Mountain Dam, Arkansas and the F.E. Walter Dam, Pennsylvania.