Zi-Ding Zhao

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

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 co...