Abstract. Estimating uncertainty of camera parameters computed in
Structure from Motion (SfM) is an important tool for evaluating the
quality of the reconstruction and guiding the reconstruction process. Yet,
the quality of the estimated parameters of large reconstructions has been
rarely evaluated due to the computational challenges. We present a new
algorithm which employs the sparsity of the uncertainty propagation and
speeds the computation up about ten times w.r.t. previous approaches.
Our computation is accurate and does not use any approximations. We
can compute uncertainties of thousands of cameras in tens of seconds
on a standard PC. We also demonstrate that our approach can be effectively used for reconstructions of any size by applying it to smaller
sub-reconstructions.