[yeldarb]

Interesting, is there a technical reason for not using that extra data to help with the process?

For example, another commenter mentioned

> Some materials don't really contain any surface details that the algorithms could use to attach feature points to, so they will be blank. Large white walls and large windows are especially difficult.

Seems like you might be able to position some of these with orientation data from the camera.

[Fission]

The GPS data is probably being used as a prior. The GPS metadata is accurate but imprecise, while SFM more precise. GPS is likely used for pose initialization, while SFM is then used to refine the pose.