1. A method for constructing a three-dimensional (3D) structure, the method comprising: capturing, by an image capturing unit, images of an object; determining, by a processor, extrinsic camera parameters using a gyroscope, a magnetometer, and an accelerometer while capturing the images, wherein the extrinsic camera parameters comprise a rotation and a translation for the images; computing, by the processor, an internal calibration matrix for the images, wherein the internal calibration matrix comprises a focal length of the image capturing unit and a principle point of the image capturing unit; computing, by the processor, a fundamental matrix using the extrinsic camera parameters and the internal calibration matrix; extracting, by the processor, features of the images; establishing, by the processor, point correspondences amongst the images, wherein the point correspondences are established using the features of the images; filtering, by the processor, the point correspondences using the fundamental matrix to generate filtered point correspondences; and generating, by the processor, a 3D structure using the filtered point correspondences, wherein the 3D structure is generated using a triangulation technique.