View-graph construction framework for robust and efficient structure-from-motion

•We use an incremental manner to construct view graph, rather than computing the relative geometry in each edge independently.•By iteratively performing local reconstruction, the verified maximum spanning tree is extended into our view graph.•The relative geometry is estimated by local reconstruction, which has less ambiguity and is more robust than matrix decomposition.•By embedding our view graph, both the reconstruction efficiency and robustness are greatly improved.•Our view graph has a wide applicability, and in principle it can be inserted into any SfM systems.