diff --git a/.gitmodules b/.gitmodules
index e897357..fddfa47 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,3 +2,11 @@
 	path = lichtfeld-studio/LichtFeld-Studio
 	url = https://github.com/MrNeRF/LichtFeld-Studio
 	branch = master
+[submodule "pixsfm/pixel-perfect-sfm"]
+	path = pixsfm/pixel-perfect-sfm
+	url = https://github.com/cvg/pixel-perfect-sfm.git
+	branch = main
+[submodule "pixsfm/Hierarchical-Localization"]
+	path = pixsfm/Hierarchical-Localization
+	url = https://github.com/cvg/Hierarchical-Localization.git
+	branch = master
diff --git a/pixsfm/Dockerfile b/pixsfm/Dockerfile
new file mode 100644
index 0000000..090826a
--- /dev/null
+++ b/pixsfm/Dockerfile
@@ -0,0 +1,151 @@
+FROM nvidia/cuda:11.8.0-devel-ubuntu22.04 AS builder
+
+ARG COLMAP_VERSION=3.8
+ARG CUDA_ARCHITECTURES=86
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Set up initial PyTorch environment and build environment
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    libatlas-base-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-program-options-dev \
+    libboost-system-dev \
+    libboost-test-dev \
+    libcgal-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libgflags-dev \
+    libglew-dev \
+    libgoogle-glog-dev \
+    libhdf5-dev \
+    libmetis-dev \
+    libqt5opengl5-dev \
+    libsqlite3-dev \
+    libsuitesparse-dev \
+    ninja-build \
+    python3 \
+    python3-pip \
+    qtbase5-dev
+
+# Tencent mirror as an alternative to main repo in case CDN fails
+# NumPy 2.0 in order to support both 1.x and 2.x versions of NumPy, since
+# legacy code is present
+RUN pip3 install --upgrade pip
+RUN pip3 install --no-cache-dir \
+      --extra-index-url https://download.pytorch.org/whl/cu118 \
+      #--extra-index-url https://mirrors.tencent.com/pytorch-wheels/whl/cu118/ \
+      torch==2.1.2+cu118 \
+      torchvision==0.16.2+cu118 \
+      'numpy<2.0.0' 
+
+WORKDIR /opt
+
+# Install Ceres Solver. PixSFM requires version 2.1 or higher. Testing is
+# disabled since `docker build` doesn't have access to the GPU
+RUN git clone https://github.com/ceres-solver/ceres-solver && \
+    cd ceres-solver && \
+    git checkout 2.2.0
+RUN mkdir ceres-bin && \
+    cd ceres-bin && \
+    cmake ../ceres-solver \
+        -DUSE_CUDA=ON \
+        -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} \
+        -DBUILD_TESTING=OFF \
+        -DBUILD_EXAMPLES=OFF \
+        -DCMAKE_BUILD_TYPE=Release && \
+    make -j8 && \
+    make test && \
+    make install
+
+# Install COLMAP 3.8 specifically, since this is a dependency of PixSFM. Set
+# C++17 standard to match Ceres libraries
+RUN git clone https://github.com/colmap/colmap.git
+RUN cd colmap && \
+    git reset --hard ${COLMAP_VERSION} && \
+    mkdir build && \
+    cd build && \
+    cmake .. \
+        -GNinja \
+        -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} \
+        -DCMAKE_CXX_STANDARD=17 \
+        -DCMAKE_CXX_STANDARD_REQUIRED=ON && \
+    ninja && \
+    ninja install -j8 && \
+    cd .. && rm -rf colmap
+
+WORKDIR /workspace
+
+# Install both PixSFM and Hloc in-place, since their run scripts should ideally
+# be stored in the workspace
+# PixSFM is installed first since its version requirements take precedence over
+# Hloc's
+COPY pixel-perfect-sfm /workspace/pixel-perfect-sfm
+RUN cd pixel-perfect-sfm && \
+    pip3 install -r requirements.txt
+
+# Git reset to the last commit compatible with pycolmap==0.4.0, which is a
+# dependency of PixSFM
+COPY Hierarchical-Localization /workspace/Hierarchical-Localization
+RUN cd Hierarchical-Localization/ && \
+    pip3 install -e .
+
+# Install PixSFM last since it has Hloc as one of its dependencies
+RUN cd pixel-perfect-sfm && \
+    pip3 install -e .
+
+# Reinstall NumPy<2.0.0, since the used version of PyTorch was compiled with an
+# older version of NumPy
+RUN pip3 install --no-cache-dir 'numpy<2.0.0'
+
+# Set up runtime
+FROM nvidia/cuda:11.8.0-runtime-ubuntu22.04
+
+ENV CUDA_ARCHITECTURES=86
+ENV NVIDIA_CUDA_VERSION=11.8.0
+ENV GRADIO_SERVER_NAME=0.0.0.0
+
+# Install runtime versions of packages in builder stage
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libatlas3-base \
+    libboost-filesystem1.74.0 \
+    libboost-graph1.74.0 \
+    libboost-program-options1.74.0 \
+    libboost-system1.74.0 \
+    libboost-test1.74.0 \
+    libflann1.9 \
+    libfreeimage3 \
+    libgl1 \
+    libglew2.2 \
+    libgoogle-glog0v5 \
+    libhdf5-dev \
+    libmetis5 \
+    libpython3.10 \
+    libqt5opengl5 \
+    libsuitesparse-dev \
+    python-is-python3 \
+    python3 \
+    wget
+RUN rm -rf /var/cache/apt/archives /var/lib/apt/lists/*
+
+# Copy COLMAP and Ceres builds and installed Python libraries
+# `include` directory only has ceres and colmap
+# NOTE: Python packages are found here, assuming Python 3.10
+# /usr/local/lib/python3.10/dist-packages/
+COPY --from=builder /usr/local/include/ /usr/local/include/
+COPY --from=builder /usr/local/bin/colmap /usr/local/bin/colmap
+COPY --from=builder /usr/local/lib/ /usr/local/lib/
+COPY --from=builder /usr/local/share/ /usr/local/share/
+# Copy the actual workspace
+COPY --from=builder /workspace/ /workspace/
+
+# A PixSFM dependency that seems to be missing from the copy process. This is
+# technically deprecated as an API, and in case of failure should be pinned to
+# setuptools<81
+RUN python3 -m pip install --no-cache-dir setuptools
+
+CMD ["/bin/bash", "-l"]
diff --git a/pixsfm/Hierarchical-Localization b/pixsfm/Hierarchical-Localization
new file mode 160000
index 0000000..1c6fc64
--- /dev/null
+++ b/pixsfm/Hierarchical-Localization
@@ -0,0 +1 @@
+Subproject commit 1c6fc64b04e508c31c2bf8021b77ec4f8e4293a0
diff --git a/pixsfm/copy-to-host.bat b/pixsfm/copy-to-host.bat
new file mode 100644
index 0000000..3246dc0
--- /dev/null
+++ b/pixsfm/copy-to-host.bat
@@ -0,0 +1,6 @@
+docker compose run -d --rm -it --workdir /workspace --name pixsfm-tmp pixsfm
+
+docker cp pixsfm-tmp:/workspace/Hierarchical-Localization .
+docker cp pixsfm-tmp:/workspace/pixel-perfect-sfm .
+
+docker stop pixsfm-tmp
diff --git a/pixsfm/docker-compose.yml b/pixsfm/docker-compose.yml
new file mode 100644
index 0000000..b93004c
--- /dev/null
+++ b/pixsfm/docker-compose.yml
@@ -0,0 +1,22 @@
+services:
+
+  pixsfm:
+    build:
+      context: .
+    image: pixsfm:dev
+    extends:
+      file: ../config.yml
+      service: win-gui-app
+    volumes:
+      - type: bind
+        source: ./.cache/pixsfm
+        target: /root/.cache
+      - type: bind
+        source: ./.cache/pixsfm/features/models/checkpoints
+        target: /workspace/pixel-perfect-sfm/pixsfm/features/models/checkpoints
+      - type: bind
+        source: ./pixel-perfect-sfm
+        target: /workspace/pixel-perfect-sfm
+      - type: bind
+        source: ./Hierarchical-Localization
+        target: /workspace/Hierarchical-Localization
diff --git a/pixsfm/pixel-perfect-sfm b/pixsfm/pixel-perfect-sfm
new file mode 160000
index 0000000..40f7c13
--- /dev/null
+++ b/pixsfm/pixel-perfect-sfm
@@ -0,0 +1 @@
+Subproject commit 40f7c1339328b2a0c7cf71f76623fb848e0c0357
diff --git a/pixsfm/run-pixsfm.bat b/pixsfm/run-pixsfm.bat
new file mode 100644
index 0000000..61ba5be
--- /dev/null
+++ b/pixsfm/run-pixsfm.bat
@@ -0,0 +1 @@
+docker compose run --rm -it --workdir /workspace --name pixsfm pixsfm
\ No newline at end of file