OddEye: Bridging Pairwise Dense Matching and Incremental Structure-from-Motion

While pairwise dense matchers offer dense coverage and robustness in low-texture scenes, their integration into incremental Structure-from-Motion (SfM) is hindered by two fundamental issues: fragmented multi-view tracks caused by independent pairwise sampling, and a high per-pair matching cost that makes exhaustive matching prohibitive. To overcome these challenges, we present OddEye, an incremental SfM framework that pairs off-the-shelf dense matchers with dynamic, reconstruction-aware scheduling. First, OddEye enforces consistent observation identities across views by anchoring queries to a fixed set of source coordinates per image, forming well-connected star-shaped multi-view tracks. Second, OddEye extracts a compact geometric prior from the cross-view attention of a feed-forward 3D model, and uses it to dynamically schedule dense matching only between candidate unregistered images and already registered partners. OddEye attains state-of-the-art results on ETH3D, IMC 2021, and Texture-Poor SfM, achieving 94.98% AUC@3° on ETH3D with RoMa v2. It also delivers a 9.53× speedup on the largest ETH3D scene with negligible pose loss and scales to SMERF scenes of up to 1,874 images, registering 99.8% of images with under 10 GiB of peak GPU memory.