Abstract: A system provides camera position and point cloud estimation 3D reconstruction. The system receives images and attempts existing structure integration to integrate the images into an existing reconstruction under a sequential image reception assumption. If existing structure integration fails, the system attempts dictionary overlap detection by accessing a dictionary database and searching to find a closest matching frame in the existing reconstruction. If overlaps are found, the system matches the images with the overlaps to determine a highest probability frame from the overlaps, and attempts existing structure integration again. If overlaps are not found or existing structure integration fails again, the system attempts bootstrapping based on the images. If any of existing structure integration, dictionary overlap detection, or bootstrapping succeeds, and if multiple disparate tracks have come to exist, the system attempts reconstructed track merging.

Abstract: A system provides camera position and point cloud estimation 3D reconstruction. The system receives images and attempts existing structure integration to integrate the images into an existing reconstruction under a sequential image reception assumption. If existing structure integration fails, the system attempts dictionary overlap detection by accessing a dictionary database and searching to find a closest matching frame in the existing reconstruction. If overlaps are found, the system matches the images with the overlaps to determine a highest probability frame from the overlaps, and attempts existing structure integration again. If overlaps are not found or existing structure integration fails again, the system attempts bootstrapping based on the images. If any of existing structure integration, dictionary overlap detection, or bootstrapping succeeds, and if multiple disparate tracks have come to exist, the system attempts reconstructed track merging.

Abstract: A system provides 3D reconstruction using multiple pipelines that run in parallel and each include a worker and a queue of abstract jobs. The system receives a new image in a stream of images by an image processing pipeline, and performs image undistortion on the new image by the image processing pipeline to obtain an undistorted image. The system then detects features in the undistorted image by the image processing pipeline, injects a dictionary search job with the undistorted image and the features into a search pipeline, and injects an image compression job with the undistorted image into a maintenance pipeline. The system then performs multi-image feature matching by the image processing pipeline using a vocabulary tree database to obtain matched images, and injects a structure integration job with the undistorted image and the matched images into a constructive pipeline for camera position and point cloud estimation.