Methods, storage media, and systems for evaluating camera poses

A non-transient computer-readable storage medium having instructions embodied thereon, the instructions being executable by one or more processors to perform a method for grouping different camera poses, the method comprising:

• receiving a 3d model comprising a plurality of 3d line segments;
• identifying at least first, second, and third images that observe a first 3d line segment of the plurality of 3d line segments, wherein each of the first, second, and third images is associated with a pose;
• identifying a 2d line segment in each of the first, second, and third images that corresponds to the first 3d line segment;
• triangulating the 2d line segment of the first image and the second image to create a second 3d line segment;
• triangulating the 2d line segment of the first image and the third image to create a third 3d line segment;
• triangulating the 2d line segment of the second image and the third image to create a fourth 3d line segment;
• grouping pose pairs, into a plurality of groups, based on a parameter of the second 3d line segment, the third 3d line segment, and the fourth 3d line segment;
• selecting a group of the plurality of groups comprising a largest number of pose pairs;
• and
• selecting poses of the pose pairs in the selected group.