Incremental SfM system capable of adaptively sensing matching relation

The invention discloses an incremental SfM (Structural Form Motion) system capable of adaptively sensing a matching relationship, and belongs to the field of computer vision. The incremental SfM relates to numerous data structures and algorithm logics in the implementation process, and the invention provides a specific data structure organization mode in the implementation process when a C + + language is used for development for specific implementation of the incremental SfM. Meanwhile, the invention provides a specific logic and an implementation method of the incremental reconstruction step, and the method comprises the following four steps: searching a next optimal matching image, obtaining 2d-3d corresponding points between an alternative image newly added into a system and three-dimensional points in the system, estimating the pose of the alternative image through PnP (Perspective-n-Point), and carrying out triangularization and local BA (Bundle Administration) on the alternative image newly added into