mlsanityData to 14 Oct 2026

A Taxonomy of Structure from Motion Methods

arXiv 2505.15814 ↗First posted 21 May 2025cs.CVcited by 2

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Abstract (arXiv)

Structure from Motion (SfM) refers to the problem of recovering both structure (i.e., 3D coordinates of points in the scene) and motion (i.e., camera matrices) starting from point correspondences in multiple images. It has attracted significant attention over the years, counting practical reconstruction pipelines as well as theoretical results. This paper is conceived as a conceptual review of SfM methods, which are grouped into three main categories, according to which part of the problem - between motion and structure - they focus on. The proposed taxonomy brings a new perspective on existing SfM approaches as well as insights into open problems and possible future research directions. Particular emphasis is given on identifying the theoretical conditions that make SfM well posed, which depend on the problem formulation that is being considered.

Key facts. Cited by 2 papers in the map (data through 14 Oct 2026). Builds on 44 of its 130 references that are in the map. First posted on arXiv 21 May 2025.

Builds on

44 of 130 references.

References · 44

  1. 2023Visual Geometry Grounded Deep Structure From Motioncited by 227
  2. 2024Global Structure-from-Motion Revisitedcited by 218
  3. 2021Pixel-Perfect Structure-from-Motion with Featuremetric Refinementcited by 200
  4. 2024MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motioncited by 162
  5. 2017A Survey of Structure from Motioncited by 158
  6. 2023Detector-Free Structure from Motioncited by 71
  7. 2020Shonan Rotation Averaging: Global Optimality by Surfing SO(p)ncited by 46
  8. 2019Low-Rank Matrix Completion: A Contemporary Surveycited by 43
  9. 2014Robust Camera Location Estimation by Convex Programmingcited by 41
  10. 2019NeuRoRA: Neural Robust Rotation Averagingcited by 32
  11. 2024Robust Incremental Structure-from-Motion with Hybrid Featurescited by 31
  12. 2019Baseline Desensitizing In Translation Averagingcited by 27
32 more
  1. 2021HARA: A Hierarchical Approach for Robust Rotation Averagingcited by 23
  2. 2020Message Passing Least Squares Framework and its Application to Rotation Synchronizationcited by 22
  3. 2020Synchronizing Probability Measures on Rotations via Optimal Transportcited by 19
  4. 2019Algebraic Characterization of Essential Matrices and Their Averaging in Multiview Settingscited by 18
  5. 2023Revisiting Rotation Averaging: Uncertainties and Robust Lossescited by 18
  6. 2016ShapeFit and ShapeKick for Robust, Scalable Structure from Motioncited by 16
  7. 2020Bundle Adjustment on a Graph Processorcited by 16
  8. 2020Stochastic Bundle Adjustment for Efficient and Scalable 3D Reconstructioncited by 16
  9. 2021Deep Permutation Equivariant Structure from Motioncited by 15
  10. 2018GPSfM: Global Projective SFM Using Algebraic Constraints on Multi-View Fundamental Matricescited by 14
  11. 2021Square Root Bundle Adjustment for Large-Scale Reconstructioncited by 14
  12. 2021Rotation Coordinate Descent for Fast Globally Optimal Rotation Averagingcited by 14
  13. 2021MegBA: A GPU-Based Distributed Library for Large-Scale Bundle Adjustmentcited by 13
  14. 2021Rotation Averaging in a Split Second: A Primal-Dual Method and a Closed-Form for Cycle Graphscited by 12
  15. 2017A New Rank Constraint on Multi-view Fundamental Matrices, and its Application to Camera Location Recoverycited by 10
  16. 2022RAGO: Recurrent Graph Optimizer For Multiple Rotation Averagingcited by 10
  17. 2023Learning Structure-from-Motion with Graph Attention Networkscited by 10
  18. 2020On the Distribution of Minima in Intrinsic-Metric Rotation Averagingcited by 9
  19. 2022Snapshot of Algebraic Visioncited by 9
  20. 2024Power Variable Projection for Initialization-Free Large-Scale Bundle Adjustmentcited by 9
  21. 2015Robust Rotation Synchronization via Low-rank and Sparse Matrix Decompositioncited by 8
  22. 2015Hierarchical structure-and-motion recovery from uncalibrated imagescited by 7
  23. 2023Rotation Synchronization via Deep Matrix Factorizationcited by 7
  24. 2018Estimation of Camera Locations in Highly Corrupted Scenarios: All About that Base, No Shape Troublecited by 6
  25. 2021Critical configurations for two projective views, a new approachcited by 5
  26. 2024Efficient Detection of Long Consistent Cycles and its Application to Distributed Synchronizationcited by 4
  27. 2015On Computing the Translations Norm in the Epipolar Graphcited by 3
  28. 2018On the Solvability of Viewing Graphscited by 3
  29. 2023Distributed bundle adjustment with block-based sparse matrix compression for super large scale datasetscited by 3
  30. 2024Gravity-aligned Rotation Averaging with Circular Regressioncited by 3
  31. 2017GraphMatch: Efficient Large-Scale Graph Construction for Structure from Motioncited by 2
  32. 2024RESfM: Robust Deep Equivariant Structure from Motioncited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 1.

2 papers.

  1. 2025Ov3R: Open-Vocabulary Semantic 3D Reconstruction from RGB Videoscited by 10
  2. 2026MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videoscited by 0