| Determine pose towards existing structure |
| M |
| 2D-3D |
| 2D-3D |
| mi+1 |
| mi |
| new view |
| 2D-2D |
|
|
|
| Compute Pi+1 using robust
approach |
||
| Find additional
matches using predicted projection |
||
| Extend, correct
and refine reconstruction |
||