Tracks selection for robust, efficient and scalable large-scale structure from motion

Highlights：

• Three tracks selection criteria: Compactness, Accurateness, and Connectedness, are proposed to guide the selection process.

• Formulating the tracks selection task as finding a subset of tracks to cover multiple spanning trees of epipolar geometry graph (EG).

• Extensive experiments show that by inserting our tracks selection module into a SfM system, both the SfM efficiency and scalability are greatly improved.

• Our tracks selection module has a wide applicability, and it can be inserted into any global SfM systems.

• Our tracks selection method performs better than three other state-of-the-art tracks selection methods.