Certain aspects of the present disclosure provide techniques for pose estimation for three-dimensional object reconstruction. In one example, a method, includes receiving image data, wherein the image data comprises a plurality of images taken from varying poses; identifying one or more pairs of spatially related images within the plurality of images; generating a synchronization graph indicative of at least one similarity metric between the plurality of images, based at least in part on the identified one of more pairs of spatially related images; and estimating a pose of an object depicted in the plurality of images based on the synchronization graph.