1. A method for performing structure from motion for unordered images of a scene with multiple object instances, comprising: obtaining a pairwise match graph using interest point detection for interest points in images of the scene to identify pairwise image matches using the interest points; estimating multiple metric partial reconstructions by performing independent structure from motion computation on a plurality of match-pairs and match-triplets selected from the pairwise match graph; classifying pairwise image matches into correct matches and erroneous matches using expectation maximization to generate geometrically consistent match labeling hypotheses and a scoring function to evaluate the match labeling hypotheses; and performing a structure from motion computation on the subset of match pairs which have been inferred as correct.