1. A method for constructing a 3D structure, the method comprising: receiving, by a processor, a stream of images captured from a plurality of viewpoints, wherein the stream of images has timestamps associated; creating, by the processor, a plurality of image sub-groups from the stream of images based upon the timestamps; extracting, by the processor, features from an image sub-group of the plurality of image sub-groups; generating, by the processor, point correspondences between images present in the image sub-group based upon the features; computing, by the processor, epipolar geometry of the image sub-group, wherein the epipolar geometry describes a geometric relationship between the images captured from one or more views; filtering, by the processor, false point correspondences from the point correspondences using the epipolar geometry to generate filtered point correspondences; and generating, by the processor, 3D points by employing a triangulation technique on the filtered point correspondences, wherein the 3D points represent one or more 3D structures.