关键词: 三维重建, 运动恢复结构（SFM）, 集束调整（BA）

Abstract: Structure from Motion（SFM） is a commonly used method of camera pose estimation in 3D reconstruction. The traditional SFM uses an incremental method to process images, its time complexity is [O(n4)], and the reconstruction time increases with the number of images. Moreover, due to image noise, drifting errors will accumulate, which directly affects the final reconstruction quality. The reconstruction results can be optimized by adding Bundle Adjustment（BA）, but it will cost more time. This method is based on the existing incremental algorithms： divide sequence images into small sets according to the similarity, conduct parallel computing, which will reduce the error accumulation and reconstruction time, and then use the Bundle Adjustment for global optimization. The experimental results show that the method can effectively reduce the reconstruction time while keeping the accuracy.

Key words: 3D reconstruction, Structure from Motion（SFM）, Bundle Adjustment（BA）