Multi-Collect Fusion

Examples disclosed herein may involve a computing system that is operable to (i) generate first structure data from one or more first image data, wherein the first structure data comprises one or more visible features captured in the one or more first image data, (ii) generate further structure data from one or more further image data, wherein the further structure data comprises one or more visible features captured in the one or more further image data, (iii) determine pose constraints for the further structure data based on common visible features, (iv) determine a transformation of the further structure data relative to the first structure data using the determined pose constraints, and (v) generate combined structure data using the determined transformation to fuse the further structure data and the first structure data.