Building Rome on a Cloudless Day

This paper introduces an approach for dense 3D reconstruc7 7 tion from unregistered Internet-scale photo collections with about 3 mil8 8 lion of images within the span of a day on a single PC (“cloudless”). Our 9 9 method advances image clustering, stereo, stereo fusion and structure 10 10 from motion to achieve high computational performance. We leverage 11 11 geometric and appearance constraints to obtain a highly parallel imple12 12 mentation on modern graphics processors and multi-core architectures. 13 13 This leads to two orders of magnitude higher performance on an order 14 14 of magnitude larger dataset than competing state-of-the-art approaches. 15 15