  Texture reconstruction techniques generally suffer from the errors in
keyframe poses. We present a non-iterative method for seamless texture
reconstruction of a given 3D scene. Our method finds the best texture alignment
in a single shot using a global optimisation framework. First, we automatically
select the best keyframe to texture each face of the mesh. This leads to a
decomposition of the mesh into small groups of connected faces associated to a
same keyframe. We call such groups fragments. Then, we propose a geometry-aware
matching technique between the 3D keypoints extracted around the fragment
borders, where the matching zone is controlled by the margin size. These
constraints lead to a least squares (LS) model for finding the optimal
alignment. Finally, visual seams are further reduced by applying a fast colour
correction. In contrast to pixel-wise methods, we find the optimal alignment by
solving a sparse system of linear equations, which is very fast and
non-iterative. Experimental results demonstrate low computational complexity
and outperformance compared to other alignment methods.
