InstantSfM: Efficient Structure-from-Motion via sparse optimization

Jiankun Zhong, Zitong Zhan, Quankai Gao, Haozhe Lou, Ziyu Chen, Jiageng Mao, Ulrich Neumann, Yue Wang

International Conference on Robotics & Automation (ICRA) 2026 Spotlight

We accelerate Structure-from-Motion by redesigning critical stages (bundle adjustment/global positioning) with GPU-optimized sparse Levenberg-Marquardt, achieving 40× speedup over COLMAP on 5k-image datasets while preserving high qualities.

[Code]