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For
every view i
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Extract features
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Compute two view
geometry i-1/i and matches
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Compute pose
using robust algorithm
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For
all close views k
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Compute
two view geometry k/i and matches
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Infer
new 2D-3D matches and add to list
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Refine
pose using all 2D-3D matches
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Refine existing
structure
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Initialize new
structure
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