A method based on Structure from Motion for processing a plurality of sparse images acquired by one or more acquisition devices to generate a sparse 3D points cloud and of a plurality of internal and external parameters of the acquisition devices includes the steps of collecting the images; extracting keypoints therefrom and generating keypoint descriptors; organizing the images in a proximity graph; pairwise image matching and generating keypoints connecting tracks according maximum proximity between keypoints; performing an autocalibration between image clusters to extract internal and external parameters of the acquisition devices, wherein calibration groups are defined that contain a plurality of image clusters and wherein a clustering algorithm iteratively merges the clusters in a model expressed in a common local reference system starting from clusters belonging to the same calibration group; and performing a Euclidean reconstruction of the object as a sparse 3D point cloud based on the extracted parameters.
