Fig. 1From: Structure from motion using dense CNN features with keypoint relocalizationPipeline of the proposed SfM using dense CNN features with keypoint relocalization. Our SfM starts from dense feature extraction (Section 3.1), feature matching (Section 3.2), the proposed keypoint relocalization (Section 3.3), feature verification using RANSAC with multiple homographies (Section 3.4), and followed by 3D reconstruction (Section 3.5)Back to article page