Sparse Reconstruction using Structure-from-Motion approach only:

Dome-like structure from ground-truth camera parameters (both intrinsics and extrinsics):

Kruppa Equations

We have verified these equations for synthetic data and found that the Frobenius norm of the equations converged to zero. However, the noise from the correspondences between the images might be one of the reasons why these equations are not converging for the face image data.