1. A method of identifying a position and shape of an object in three-dimensional (3D) space, the method comprising: capturing, with a single camera, an image generated by casting an output from at least one source onto the object; analyzing the image to computationally slice the object into a plurality of two-dimensional (2D) slices, each slice corresponding to a cross-section of the object, based at least in part on a plurality of edge points in the image; and reconstructing the position and shape of at least a portion of the object in 3D space based at least in part on a plurality of the identified cross-sectional positions and sizes.