Large scene reconstruction with local details recovery

We propose a method to recover the global structure with local details around a point. To handle a large scale of motion i.e. 360 degree around the point, we use an optimization-based algorithm to estimate the structure from the panorama around the fixed camera point. The global structure estimated can thus be used to initialize a structure from motion algorithm to recover the local details through simple camera motion such as panning. Synthetic as well as real data are used to test the validity of the algorithm. Our method can be used in applications such as authoring of virtual environments from a real scene.