A method for processing data from a camera-based device with improved initial azimuth accuracy, comprising: providing a dataset comprising digital images captured by a camera, position information for the camera when each of the digital images was captured, and tilt information for the camera when each of the digital images was captured, wherein the digital images are captured at four differing locations in the physical environment; receiving a manually or automatically generated initial tie-point; characterized in that the method further comprises: generating a plurality of potential positions for tie-points for the dataset; performing arbitration to select a most-likely tie-point position from the plurality of potential tie-point positions associated with the initial tie-point; generating a plurality of additional tie-points based on the most-likely tie-point position of the initial tie-point and an initial azimuth of the camera provided by the initial tie-point; and performing bundle adjustment on the dataset using the initial tie-point and the plurality of additional tie-points; wherein the generating of the plurality of potential positions for the tie-points includes, with the manually or automatically generated tie-point as input, the following steps to generate a first subset of the plurality of potential positions for the tie-points: identifying four cameras that observe the manually or automatically generated tie-point; with an initial pose for each of the four cameras, computing lens position and a direction vector for an observation of the tie-point in a world frame; and creating a hyperbolic cone based on the lens position and the direction vector for each of the four cameras; wherein the first subset of the plurality of potential positions for the tie-points is determined by finding intersections of the hyperbolic cones. providing a dataset comprising digital images captured by a camera, position information for the camera when each of the digital images was captured, and tilt information for the camera when each of the digital images was captured, wherein the digital images are captured at four differing locations in the physical environment; receiving a manually or automatically generated initial tie-point; characterized in that the method further comprises: generating a plurality of potential positions for tie-points for the dataset; performing arbitration to select a most-likely tie-point position from the plurality of potential tie-point positions associated with the initial tie-point; generating a plurality of additional tie-points based on the most-likely tie-point position of the initial tie-point and an initial azimuth of the camera provided by the initial tie-point; and performing bundle adjustment on the dataset using the initial tie-point and the plurality of additional tie-points; wherein the generating of the plurality of potential positions for the tie-points includes, with the manually or automatically generated tie-point as input, the following steps to generate a first subset of the plurality of potential positions for the tie-points: identifying four cameras that observe the manually or automatically generated tie-point; with an initial pose for each of the four cameras, computing lens position and a direction vector for an observation of the tie-point in a world frame; and creating a hyperbolic cone based on the lens position and the direction vector for each of the four cameras; wherein the first subset of the plurality of potential positions for the tie-points is determined by finding intersections of the hyperbolic cones. generating a plurality of potential positions for tie-points for the dataset; performing arbitration to select a most-likely tie-point position from the plurality of potential tie-point positions associated with the initial tie-point; generating a plurality of additional tie-points based on the most-likely tie-point position of the initial tie-point and an initial azimuth of the camera provided by the initial tie-point; and performing bundle adjustment on the dataset using the initial tie-point and the plurality of additional tie-points; wherein the generating of the plurality of potential positions for the tie-points includes, with the manually or automatically generated tie-point as input, the following steps to generate a first subset of the plurality of potential positions for the tie-points: identifying four cameras that observe the manually or automatically generated tie-point; with an initial pose for each of the four cameras, computing lens position and a direction vector for an observation of the tie-point in a world frame; and creating a hyperbolic cone based on the lens position and the direction vector for each of the four cameras; wherein the first subset of the plurality of potential positions for the tie-points is determined by finding intersections of the hyperbolic cones. identifying four cameras that observe the manually or automatically generated tie-point; with an initial pose for each of the four cameras, computing lens position and a direction vector for an observation of the tie-point in a world frame; and creating a hyperbolic cone based on the lens position and the direction vector for each of the four cameras; wherein the first subset of the plurality of potential positions for the tie-points is determined by finding intersections of the hyperbolic cones.