Systems and methods for generating a three-dimensional representation of a surface using frustrated total internal reflection. The system may obtain a two-dimensional image of an object in close proximity to an imaging surface. The intensity of the electromagnetic radiation received for individual points on the object may be determined. The system may determine a distance between the imaging surface and the object at each of the individual points based on a correlation between the electromagnetic radiation transmitted towards the imaging surface and the electromagnetic radiation reflected from the imaging surface. The determined intensity of the electromagnetic radiation may indicate the electromagnetic radiation reflected from the imaging surface. A three-dimensional representation of the object may be generated based on the two-dimensional image and/or the determined distances between the imaging surface and the object at each of the individual points.