ResearchBenchmarks3D Reconstruction on Piccadilly3D Reconstruction on PiccadillyFollow3,129Feature Count (Nc)COLMAP1,606.442,001.722,3972,792.28Jan 22, 2021Evaluation resultsMethodMethodLinksFeature Count (Nc)Point Count (Np)Mean Reprojection Error (MRE)Reconstruction Time (s)Refined Reconstruction Time (s)COLMAP2021.013,129—0.7316,590—RA-SfM2021.013,041—0.815,1091.422LUD2021.012,301—1.83262—HSfM2021.011,665—2.092,169—