diff --git a/recipes/colmap/all/colmap-conan-vars.cmake.in b/recipes/colmap/all/colmap-conan-vars.cmake.in
new file mode 100644
index 0000000000000..80d1fa1085fbb
--- /dev/null
+++ b/recipes/colmap/all/colmap-conan-vars.cmake.in
@@ -0,0 +1,24 @@
+set(COLMAP_FOUND TRUE)
+set(COLMAP_VERSION "@COLMAP_VERSION@")
+
+set(COLMAP_CUDA_ENABLED @CUDA_ENABLED@)
+if(COLMAP_CUDA_ENABLED)
+    enable_language(CUDA)
+    include(CMakeFindDependencyMacro)
+    if(CMAKE_VERSION VERSION_LESS 3.17)
+        find_dependency(CUDA REQUIRED)
+        macro(declare_imported_cuda_target module)
+            add_library(CUDA::${module} INTERFACE IMPORTED)
+            target_include_directories(CUDA::${module} INTERFACE ${CUDA_INCLUDE_DIRS})
+            target_link_libraries(CUDA::${module} INTERFACE ${CUDA_${module}_LIBRARY} ${ARGN})
+        endmacro()
+        declare_imported_cuda_target(cudart ${CUDA_LIBRARIES})
+        declare_imported_cuda_target(curand ${CUDA_LIBRARIES})
+    else()
+        find_dependency(CUDAToolkit REQUIRED)
+    endif()
+
+    set_property(TARGET colmap::colmap_util_cuda PROPERTY INTERFACE_LINK_LIBRARIES CUDA::cudart APPEND)
+    set_property(TARGET colmap::colmap_mvs_cuda PROPERTY INTERFACE_LINK_LIBRARIES CUDA::cudart CUDA::curand APPEND)
+    set_property(TARGET colmap::colmap_sift_gpu PROPERTY INTERFACE_LINK_LIBRARIES CUDA::cudart CUDA::curand APPEND)
+endif()
diff --git a/recipes/colmap/all/conandata.yml b/recipes/colmap/all/conandata.yml
new file mode 100644
index 0000000000000..53dd20d1703b7
--- /dev/null
+++ b/recipes/colmap/all/conandata.yml
@@ -0,0 +1,4 @@
+sources:
+  "3.10":
+    url: "https://github.com/colmap/colmap/archive/refs/tags/3.10.tar.gz"
+    sha256: "61850f323e201ab6a1abbfb0e4a8b3ba1c4cedbf55e0a5716bdea1df8ae1813a"
diff --git a/recipes/colmap/all/conanfile.py b/recipes/colmap/all/conanfile.py
new file mode 100644
index 0000000000000..4c06f99e94308
--- /dev/null
+++ b/recipes/colmap/all/conanfile.py
@@ -0,0 +1,225 @@
+import os
+
+from conan import ConanFile
+from conan.tools.build import check_min_cppstd, can_run
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import copy, get, rm, rmdir, replace_in_file, load, save
+
+required_conan_version = ">=1.53.0"
+
+class ColmapConan(ConanFile):
+    name = "colmap"
+    description = ("COLMAP is a general-purpose Structure-from-Motion (SfM) and "
+                   "Multi-View Stereo (MVS) pipeline with a graphical and command-line interface.")
+    license = "BSD-3-Clause"
+    homepage = "https://colmap.github.io/"
+    url = "https://github.com/conan-io/conan-center-index"
+    topics = ("computer-vision", "structure-from-motion", "multi-view-stereo", "3d-reconstruction", "photogrammetry")
+
+    package_type = "static-library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "fPIC": [True, False],
+        "cgal": [True, False],
+        "cuda": [True, False],
+        "gui": [True, False],
+        "ipo": [True, False],
+        "openmp": [True, False],
+        "tools": [True, False],
+        "cuda_architectures": ["native", "all-major", "all", "ANY"],
+    }
+    default_options = {
+        "fPIC": True,
+        "cgal": True,
+        "cuda": False,
+        "gui": False,
+        "ipo": True,
+        "openmp": True,
+        "tools": True,
+        "cuda_architectures": "all-major",
+    }
+
+    def export_sources(self):
+        copy(self, "colmap-conan-vars.cmake.in", self.recipe_folder, self.export_sources_folder)
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if not self.options.cuda:
+            del self.options.cuda_architectures
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("boost/1.84.0", transitive_headers=True, transitive_libs=True)
+        # Ceres 2.2.0 is not compatible as of v3.10
+        self.requires("ceres-solver/2.1.0", transitive_headers=True, transitive_libs=True)
+        self.requires("eigen/3.4.0", transitive_headers=True, transitive_libs=True)
+        self.requires("flann/1.9.2", transitive_headers=True, transitive_libs=True)
+        self.requires("freeimage/3.18.0")
+        self.requires("glog/0.6.0", transitive_headers=True, transitive_libs=True)
+        self.requires("metis/5.2.1")
+        self.requires("sqlite3/[>=3.45.0 <4]", transitive_headers=True, transitive_libs=True)
+        self.requires("lz4/1.9.4")
+        if self.options.openmp:
+            self.requires("openmp/system", transitive_headers=True, transitive_libs=True)
+        if self.options.cgal:
+            self.requires("cgal/5.6.1")
+        if self.options.gui:
+            # Qt6 is not supported
+            self.requires("qt/[~5.15]", transitive_headers=True, transitive_libs=True, run=can_run(self))
+        if self.options.gui or self.options.cuda:
+            self.requires("glew/2.2.0")
+            self.requires("opengl/system")
+        # TODO: unvendor VLFeat, PoissonRecon, LSD, SiftGPU
+        # self.requires("vlfeat/0.9.21", transitive_headers=True, transitive_libs=True)
+
+    def validate(self):
+        check_min_cppstd(self, 14)
+
+    def build_requirements(self):
+        if self.options.cuda:
+            self.tool_requires("cmake/[>=3.24 <4]")
+        if self.options.gui and not can_run(self):
+            self.tool_requires("qt/<host_version>")
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.cache_variables["CCACHE_ENABLED"] = False
+        tc.cache_variables["CGAL_ENABLED"] = self.options.cgal
+        tc.cache_variables["CUDA_ENABLED"] = self.options.cuda
+        tc.cache_variables["GUI_ENABLED"] = self.options.gui
+        tc.cache_variables["IPO_ENABLED"] = self.options.ipo
+        tc.cache_variables["OPENGL_ENABLED"] = self.options.gui
+        tc.cache_variables["OPENMP_ENABLED"] = self.options.openmp
+        tc.cache_variables["SIMD_ENABLED"] = True  # only applied to VLFeat and when on x86
+        tc.cache_variables["TESTS_ENABLED"] = False
+        tc.cache_variables["CMAKE_CUDA_ARCHITECTURES"] = self.options.get_safe("cuda_architectures", "")
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
+        tc.generate()
+
+        deps = CMakeDeps(self)
+        deps.set_property("cgal", "cmake_file_name", "CGAL")
+        deps.set_property("cgal", "cmake_target_aliases", ["CGAL"])
+        deps.set_property("flann", "cmake_file_name", "FLANN")
+        deps.set_property("flann", "cmake_target_name", "flann")
+        deps.set_property("freeimage", "cmake_file_name", "FreeImage")
+        deps.set_property("freeimage::FreeImage", "cmake_target_name", "freeimage::FreeImage")
+        deps.set_property("glew", "cmake_file_name", "Glew")
+        deps.set_property("glew", "cmake_target_name", "GLEW::GLEW")
+        deps.set_property("glog", "cmake_file_name", "Glog")
+        deps.set_property("glog", "cmake_target_name", "glog::glog")
+        deps.set_property("lz4", "cmake_file_name", "LZ4")
+        deps.set_property("lz4", "cmake_target_name", "lz4")
+        deps.set_property("metis", "cmake_file_name", "Metis")
+        deps.set_property("metis", "cmake_target_name", "metis")
+        deps.generate()
+
+    def _patch_sources(self):
+        replace_in_file(self, os.path.join(self.source_folder, "CMakeLists.txt"),
+                        "set(CMAKE_CXX_STANDARD 14)", "")
+        replace_in_file(self, os.path.join(self.source_folder, "CMakeLists.txt"),
+                        "set(CMAKE_CUDA_STANDARD 14)", "")
+
+        for module in self.source_path.joinpath("cmake").glob("Find*.cmake"):
+            if module.name != "FindDependencies.cmake":
+                module.unlink()
+        find_dependencies = self.source_path.joinpath("cmake", "FindDependencies.cmake")
+        replace_in_file(self, find_dependencies, " QUIET", " REQUIRED")
+
+        if not self.options.gui and not self.options.cuda:
+            # OpenGL and GLEW are not actually being used in this case
+            replace_in_file(self, find_dependencies, "find_package(Glew", "# find_package(Glew")
+            replace_in_file(self, find_dependencies, "find_package(OpenGL", "# find_package(OpenGL")
+
+        if not self.options.tools:
+            replace_in_file(self, os.path.join(self.source_folder, "src", "colmap", "exe", "CMakeLists.txt"),
+                            "COLMAP_ADD_EXECUTABLE(", "message(TRACE ")
+            replace_in_file(self, os.path.join(self.source_folder, "src", "colmap", "exe", "CMakeLists.txt"),
+                            "set_target_properties(colmap_main ", "# set_target_properties(colmap_main ")
+
+    def build(self):
+        self._patch_sources()
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def _write_cmake_module(self):
+        content = load(self, os.path.join(self.export_sources_folder, "colmap-conan-vars.cmake.in"))
+        content = content.replace("@COLMAP_VERSION@", self.version)
+        content = content.replace("@CUDA_ENABLED@", "TRUE" if self.options.cuda else "FALSE")
+        save(self, os.path.join(self.package_folder, "lib", "cmake", "colmap-conan-vars.cmake"), content)
+
+    def package(self):
+        copy(self, "COPYING.txt", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "share"))
+        rm(self, "*.pdb", self.package_folder, recursive=True)
+        self._write_cmake_module()
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "colmap")
+        self.cpp_info.set_property("cmake_target_name", "colmap::colmap")
+
+        module_rel_path = os.path.join("lib", "cmake", "colmap-conan-vars.cmake")
+        self.cpp_info.builddirs.append(os.path.join("lib", "cmake"))
+        self.cpp_info.set_property("cmake_build_modules", [module_rel_path])
+        self.cpp_info.build_modules["cmake_find_package"] = [module_rel_path]
+        self.cpp_info.build_modules["cmake_find_package_multi"] = [module_rel_path]
+
+        def _add_component(name, requires):
+            component = self.cpp_info.components[name]
+            component.set_property("cmake_target_name", f"colmap::colmap_{name}")
+            component.libs = [f"colmap_{name}"]
+            component.requires = requires
+            return component
+
+        util = _add_component("util", requires=["boost::headers", "boost::filesystem", "eigen::eigen", "glog::glog", "sqlite3::sqlite3"])
+        _add_component("controllers", requires=["util", "estimators", "feature", "image", "math", "mvs", "retrieval", "sfm", "scene",
+                                                "ceres-solver::ceres", "boost::program_options"])
+        _add_component("estimators", requires=["util", "math", "feature_types", "geometry", "sensor", "image", "scene", "optim", "ceres-solver::ceres"])
+        exe = _add_component("exe", requires=["util", "controllers", "estimators", "geometry", "optim", "scene"])
+        _add_component("feature_types", requires=["util"])
+        feature = _add_component("feature", requires=["util", "feature_types", "geometry", "retrieval", "scene", "math", "sensor", "vlfeat", "flann::flann", "lz4::lz4"])
+        _add_component("geometry", requires=["util", "math"])
+        _add_component("image", requires=["util", "sensor", "scene", "lsd"])
+        _add_component("math", requires=["util", "metis::metis", "boost::graph"])
+        mvs = _add_component("mvs", requires=["util", "scene", "sensor", "image", "poisson_recon"])
+        _add_component("optim", requires=["math"])
+        _add_component("retrieval", requires=["math", "estimators", "optim", "flann::flann", "lz4::lz4"])
+        _add_component("scene", requires=["util", "sensor", "feature_types", "geometry"])
+        _add_component("sensor", requires=["util", "vlfeat", "freeimage::FreeImage", "ceres-solver::ceres"])
+        _add_component("sfm", requires=["util", "geometry", "image", "scene", "estimators"])
+        _add_component("lsd", requires=[])
+        poisson_recon = _add_component("poisson_recon", requires=[])
+        vlfeat = _add_component("vlfeat", requires=[])
+
+        if self.options.cgal:
+            mvs.requires.append("cgal::cgal")
+
+        if self.options.gui:
+            _add_component("ui", requires=["util", "image", "scene", "controllers", "qt::qtCore", "qt::qtOpenGL", "qt::qtWidgets"])
+            util.requires.extend(["qt::Core", "qt::OpenGL", "opengl::opengl"])
+            feature.requires.extend(["qt::qtWidgets"])
+            exe.requires.extend(["ui"])
+
+        if self.options.openmp:
+            poisson_recon.requires.append("openmp::openmp")
+            vlfeat.requires.append("openmp::openmp")
+
+        if self.options.cuda:
+            # CUDA dependencies are exported in the CMake module
+            _add_component("util_cuda", requires=["util"])
+            _add_component("mvs_cuda", requires=["mvs", "util_cuda"])
+            exe.requires.extend(["util_cuda", "mvs_cuda"])
+
+        if self.options.gui or self.options.cuda:
+            _add_component("sift_gpu", requires=["opengl::opengl", "glew::glew"])
+            feature.requires.extend(["sift_gpu"])
diff --git a/recipes/colmap/all/test_package/CMakeLists.txt b/recipes/colmap/all/test_package/CMakeLists.txt
new file mode 100644
index 0000000000000..e46a81c198e33
--- /dev/null
+++ b/recipes/colmap/all/test_package/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES CXX)
+
+find_package(colmap REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE colmap::colmap)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)
diff --git a/recipes/colmap/all/test_package/conanfile.py b/recipes/colmap/all/test_package/conanfile.py
new file mode 100644
index 0000000000000..ef5d7042163ec
--- /dev/null
+++ b/recipes/colmap/all/test_package/conanfile.py
@@ -0,0 +1,26 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")
diff --git a/recipes/colmap/all/test_package/test_package.cpp b/recipes/colmap/all/test_package/test_package.cpp
new file mode 100644
index 0000000000000..41956374f252a
--- /dev/null
+++ b/recipes/colmap/all/test_package/test_package.cpp
@@ -0,0 +1,10 @@
+#include <colmap/controllers/option_manager.h>
+#include <colmap/scene/reconstruction.h>
+#include <colmap/util/logging.h>
+
+int main(int argc, char** argv) {
+  colmap::InitializeGlog(argv);
+  colmap::OptionManager options;
+  options.Parse(argc, argv);
+  colmap::Reconstruction reconstruction;
+}
diff --git a/recipes/colmap/config.yml b/recipes/colmap/config.yml
new file mode 100644
index 0000000000000..2eb3a1757895d
--- /dev/null
+++ b/recipes/colmap/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "3.10":
+    folder: all