See §6.1. Second order method / convergence: See asymptotic convergence Secondary structure: Internal structure or sparsity of the off-diagonal feature-camera coupling block of the bundle Hessian. See primary structure. Self calibration: Recovery of camera (internal) calibration during bundle adjustment Sensitivity number: A heuristic number s measuring the sensitivity of an estimate to a given observation Separable problem: Any optimization problem in which the variables can be separated into two or more subsets , for which optimization over each subset given all of the others is significantly easier than simultaneous optimization over all variables. Bundle adjustment is separable into 3D structure and cameras. Alternation (successive optimization over each subset) is a na¨?vena¨?ve approach to separable problems Separating set: See ,
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