HiSfM: Disambiguating Structure-from-Motion via Scaffold-Anchored Hierarchical Reconstruction
Structure-from-Motion (SfM) is a fundamental tool for sparse 3D reconstruction with broad impact in robotics and vision, supporting mapping, localization, and large-scale scene modeling. However, conventional pipelines often fail under hard visual ambiguity caused by repeated or symmetric structures, and incur heavy computational cost due to redundant cameras and constraints. We present HiSfM, a hierarchical coarse-to-fine SfM framework that improves robustness and efficiency through scaffold construction. HiSfM first forms strong local communities using geometrical induced heuristics, then connects communities with a compact yet strong skeleton by packing edge-disjoint spanning trees (ED...
| Authors | Ziding Zhao, Hainan Cui, Peilin Tao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 4 September 2026 |
| Last updated at source | 14 September 2026 |
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