Improving the Efficiency of Hierarchical Structure-and-Motion

We present a completely automated Structure and Mo- tion pipeline capable of working with uncalibrated images with varying internal parameters and no ancillary informa- tion. The system is based on a novel hierarchical scheme which reduces the total complexity by one order of magni- tude. We assess the quality of our approach analytically by comparing the recovered point clouds with laser scans, which serves as ground truth data.