Patent Document ID: 8620095
Application ID: 13047799
Patent Status: 1

Claim One:
1. A method for performing structure from motion for unordered images of a scene with multiple object instances, comprising: obtaining a pairwise match graph using interest point detection to detect interest points in the images of the scene to identify a set of pairwise image matches using the detected interest points; estimating multiple metric partial reconstructions by performing independent structure from motion computation on a plurality of match-pairs and match-triplets selected from the pairwise match graph; classifying the set of pairwise image matches into a first subset of correct matches and a second subset of erroneous matches using an expectation maximization operation to generate geometrically consistent match labeling hypotheses and a scoring function to evaluate the match labeling hypotheses; and performing a structure from motion computation on the first subset of correct matches which have been inferred as correct as a result of the classifying.