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HiSfM: Disambiguating Structure-from-Motion via Scaffold-Anchored Hierarchical Reconstruction

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Structure-from-Motion (SfM) is a fundamental tool for sparse 3D reconstruction with broad impact in robotics and vision, supporting mapping, localization, and large-scale scene modeling. However, conventional pipelines often fail under hard visual ambiguity caused by repeated or symmetric structures, and incur heavy computational cost due to redundant cameras and constraints. We present HiSfM, a hierarchical coarse-to-fine SfM framework that improves robustness and efficiency through scaffold construction. HiSfM first forms strong local communities using geometrical induced heuristics, then co

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