This is quite a workflow but all free software, I think that just about all of it is available as a default in [ArcheOS][1]:

 1. Process the images to detect the points into a cloud - Python Photogrammetry Toolbox and GUI. *(Available for Linux or Windows - some Windows installation instructions [here][2])* or [VSFM][3].
 1. Use [MeshLab][4] to get rid of spurious points and generate the meshes - *(Available for Linux or Windows)*
 1. Load into [Blender][5] to generate a 3D model*(Available for Linux or Windows)*
 1. Apply textures, *including potentially [video textures][6]*.
 1. Position your camera, lights, etc. and potentially apply motion paths to anything in the model
 1. Render in Blender to get a fly/walk/crawl through or use the game engine to allow you to navigate at will, *depending on the complexity, detail and length go on a nice long holiday while the render takes place.*


  [1]: http://www.archeos.eu/
  [2]: http://184.106.205.13/arcteam/ppt.php
  [3]: http://ccwu.me/vsfm/
  [4]: https://sourceforge.net/projects/meshlab/?source=typ_redirect
  [5]: https://www.blender.org/
  [6]: https://www.youtube.com/watch?v=Cg5uT6mrXCY