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A novel multi-view stereo reconstruction method is presented. The algorithm is focused on accuracy and it is highly engineered with some parts taking advantage of the graphics processing unit. In addition, it is seamlessly integrated with the output of a structure and motion pipeline. In the first part of the algorithm a depth map is extracted independently for each image. The final depth map is generated from the depth hypothesis using a Markov random field optimization technique over thedoi:10.5194/isprsarchives-xl-5-w1-243-2013 fatcat:aetyh3xoircctmlnvmjwo3btp4