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 # CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion)
 
+## Global Structure from Motion Revisited
+
+[link to paper](https://arxiv.org/pdf/2407.20219v1)
+
+### Novelty in Global Structure from Motion Revisited
+
+1. Start with Quality matches
+   - Use only geometrically verified
+2. Match verification strategy
+   - Homography
+   - Essential Matrix
+   - Fundamental Matrix
+3. Filtering Bad Matches
+   - Cheirality test: Remove points behind the camera
+   - Epipolar proximity: Remove the matches near the epipole (unstable)
+   - Triangulation angle: Remove matches with small viewing angles (pool estimation for depth)
+4. Track Assembly
+   - Concatenate remaining matches across all image pairs
+   - Form continuous tracks of the same 3D point visible in multiple views
+
+> [!TIP]
+>
+> Compared with the COLMAP, the Global Structure from Motion Revisited is more robust to the noise and the outliers but less robust to repeated patterns. I wonder how this problem is resolved in normal COLMAP pipeline.
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