Before revision: Software Further reading B. Triggs, P. McLauchlan, R. Hartley and A. Fitzgibbon, Bundle Adjustment — A Modern Synthesis, Vision Algorithms: Theory and Practice, 1999.
After revision: See alsoAdjustment of observationsStereoscopyLevenberg–Marquardt algorithmSparse matrixCollinearity equationStructure from motionReferences Further reading B. Triggs, P. McLauchlan, R. Hartley and A. Fitzgibbon, Bundle Adjustment — A Modern Synthesis, Vision Algorithms: Theory and Practice, 1999.