“Once we’ve got the 3D pose of each photo, we compute the depth of each pixel in the reference photo using Multi-View Stereo algorithms. MVS works the way human stereo vision does: given the location of the same object in two different images, we can triangulate the 3D position of the object and compute the distance to it. How do we figure out which pixel in one image corresponds to a pixel in another image? MVS measures how similar they are — on mobile devices, one particularly simple and efficient way is computing the Sum of Absolute Differences (SAD) of the RGB colors ...
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