HETA++: A Novel Global SfM Pipeline

zhenjun_zhao · x · 2026-07-20

HETA++ introduces a novel pipeline for global SfM: starting with view track graph construction, rotation averaging, and feature track building, followed by relative translation refinement, global filtering, and hybrid explicit initialization, and finally completing the reconstruction via selective angular refinement, selective Bundle Adjustment, and full BA.

The paper presents camera pose AUC and reconstruction time comparisons on the 1DSfM dataset, showing that HETA++ achieves a better accuracy/speed trade-off across multiple scenes. Tables also display comparisons with methods like COLMAP, CReTA, LiGT, HETA, and GLOMAP.

Original post →

More from Research

Research channel →