Local feature cameras for structure from motion (SFM) problems with generalized cameras

Methods and systems for extraction of 3D geometry from a plurality of generalized camera images by a device that comprises an electronic circuit are provided. Methods include identifying an x and y coordinate, an orientation, and a scale for each of one or more feature locations in each of the generalized camera images, extracting a local image feature at each feature location, generating a feature camera centered on each feature location, identifying groups of feature cameras providing consistent triangulation opportunity, and triangulating each identified feature camera group by finding the 3D point that minimizes an error term.