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Are you describing what Mapillary is doing ? It's a crowdsourced street level imagery provider (owned by Facebook since 2020, but still contributing to OSM), but they do auto-detection of feature (you can see that in the online OSM editor: Map Data > Photo Overlays > Mapillary > Map Features).

I vaguely remember a blog post about doing photogrammetry out of their images, but I'm not entirely sure about it.

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I was talking about photogrammetry, preferably with 2 global shutter synchronous image sensors, attached to the ends of say a 1 m pole.

Don't need global shutter just use a bit more math and IMU data with frequency in excess of the frame rate.

Make it work with the recording capabilities of a good modern phone and handle the compute in non-real-time.

the compute for rigidly separated binocular vision is much much more compute efficient and precise than having to guesstimate positions from monocular + IMU.

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