Embodiments include systems and methods for generating a 3D mesh from a video stream or other image captured contemporaneously with AR data. The AR data is used to create a depth map, which is then fused with images from frames of the video to form a full 3D mesh. The images and depth map can also be used with an object detection algorithm to recognize 3D objects within the 3D mesh. Methods for fingerprinting the video with AR data captured contemporaneously with each frame are disclosed.