. Schur, A. Of, and A. B. , 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

F. Ackermann, DIGITAL IMAGE CORRELATION: PERFORMANCE AND POTENTIAL APPLICATION IN PHOTOGRAMMETRY, The Photogrammetric Record, vol.48, issue.3, pp.429-439, 1984.
DOI : 10.1111/j.1477-9730.1984.tb00505.x

F. Amer, DIGITAL BLOCK ADJUSTMENT, The Photogrammetric Record, vol.16, issue.1, pp.34-47, 1962.
DOI : 10.1111/j.1477-9730.1962.tb00324.x

E. Anderson, Z. Bai, C. Bischof, S. Blackford, J. Demmel et al., LAPACK Users' Guide, Third Edition, LAPACK home page, 1999.

C. Ashcraft and J. W. Liu, Robust Ordering of Sparse Matrices using Multisection, SIAM Journal on Matrix Analysis and Applications, vol.19, issue.3, pp.816-832, 1998.
DOI : 10.1137/S0895479896299081

W. Baarda, S-transformations and criterion matrices, Netherlands Geodetic Commission, Publications on Geodesy, New Series, vol.5, issue.1, 1967.

W. Baarda, Statistical concepts in geodesy, Netherlands Geodetic Commission Publications on Geodesy, New Series, vol.2, issue.4, 1967.

W. Baarda, A testing procedure for use in geodetic networks, Netherlands Geodetic Commission Publications on Geodesy, New Series, vol.2, issue.5, 1968.

E. P. Baltsavias, Multiphoto Geometrically Constrained Matching, 1992.

R. Barrett, M. W. Berry, T. F. Chan, J. Demmel, J. Donato et al., Templates for the Solution of Linear Systems: Building Blocks for Iterative Methods, 11] ? Ake Björck. Numerical Methods for Least Squares Problems, 1993.
DOI : 10.1137/1.9781611971538

J. A. Blais, Linear least squares computations using Givens transformations, Canadian Surveyor, vol.37, issue.4, pp.225-233, 1983.

P. T. Boggs, R. H. Byrd, J. E. Rodgers, and R. B. Schnabel, Users reference guide for ODRPACK 2.01: Software for weighted orthogonal distance regression, 1992.

P. T. Boggs, R. H. Byrd, and R. B. Schnabel, A Stable and Efficient Algorithm for Nonlinear Orthogonal Distance Regression, SIAM Journal on Scientific and Statistical Computing, vol.8, issue.6, pp.1052-1078, 1987.
DOI : 10.1137/0908085

R. J. Boscovich, De litteraria expeditione per pontificiam ditionem, et synopsis amplioris operis, ac habentur plura ejus ex exemplaria etiam sensorum impressa, pp.353-396

D. C. Brown, A solution to the general problem of multiple station analytical stereotriangulation, 1958.

D. C. Brown, Close range camera calibration, Photogrammetric Engineering, XXXVII, issue.8, 1971.

D. C. Brown, Calibration of close range cameras, Int. Archives Photogrammetry, vol.19, issue.5, 1972.

D. C. Brown, The bundle adjustment ? progress and prospects, Int. Archives Photogrammetry, vol.21, issue.3, pp.3-03, 1976.

Q. Chen and G. Medioni, Efficient iterative solutions to m-view projective reconstruction problem, Int. Conf. Computer Vision & Pattern Recognition, pp.55-61, 1999.

M. A. Cooper and P. A. Cross, STATISTICAL CONCEPTS AND THEIR APPLICATION IN PHOTOGRAMMETRY AND SURVEYING, The Photogrammetric Record, vol.4, issue.19, pp.637-663, 1988.
DOI : 10.1111/j.1477-9730.1988.tb00612.x

M. A. Cooper and P. A. Cross, Statistical concepts and their application in photogrammetry and surveying (continued) Photogrammetric Record, pp.645-678, 1991.

P. J. De-jonge, A comparative study of algorithms for reducing the fill-in during Cholesky factorization, Bulletin G??od??sique, vol.50, issue.No. 2, pp.296-305, 1992.
DOI : 10.1007/BF02033190

A. Dermanis, The photogrammetric inner constraints, ISPRS Journal of Photogrammetry and Remote Sensing, vol.49, issue.1, pp.25-39, 1994.
DOI : 10.1016/0924-2716(94)90053-1

I. Duff, A. M. Erisman, and J. K. Reid, Direct Methods for Sparse Matrices, 1986.

O. Faugeras, What can be seen in three dimensions with an uncalibrated stereo rig?, European Conf. Computer Vision, 1992.
DOI : 10.1007/3-540-55426-2_61

A. W. Fitzgibbon and A. Zisserman, Automatic camera recovery for closed or open image sequences, European Conf. Computer Vision, pp.311-326, 1998.
DOI : 10.1007/BFb0055675

R. Fletcher, Practical Methods of Optimization, 1987.
DOI : 10.1002/9781118723203

W. Förstner, Evaluation of block adjustment results, Int. Arch. Photogrammetry, p.23, 1980.

W. Förstner, On the geometric precision of digital correlation, Int. Arch. Photogrammetry & Remote Sensing, vol.24, issue.3, pp.176-189, 1982.

W. Förstner, A feature-based correspondence algorithm for image matching, Int. Arch. Photogrammetry & Remote Sensing, vol.26, issue.33, pp.150-166, 1984.

W. Förstner, The reliability of block triangulation Photogrammetric Engineering & Remote Sensing, pp.1137-1149, 1985.

W. Förstner, Reliability analysis of parameter estimation in linear models with applications to mensuration problems in computer vision, Computer Vision, Graphics, and Image Processing, vol.40, issue.3, pp.273-310, 1987.
DOI : 10.1016/S0734-189X(87)80144-5

D. A. Forsyth, S. Ioffe, and J. Haddon, Bayesian structure from motion, Proceedings of the Seventh IEEE International Conference on Computer Vision, pp.660-665, 1999.
DOI : 10.1109/ICCV.1999.791288

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

C. F. Gauss and G. W. Stewart, Theoria Combinationis Observationum Erroribus Minimis Obnoxiae (Theory of the Combination of Observations Least Subject to Errors) Originally published in Commentatines Societas Regiae Scientarium Gottingensis Recentiores 5, 1823 (Pars prior, p.1828, 1995.

J. A. George, Nested Dissection of a Regular Finite Element Mesh, SIAM Journal on Numerical Analysis, vol.10, issue.2, pp.345-363, 1973.
DOI : 10.1137/0710032

J. A. George, M. T. Heath, and E. G. Ng, A Comparison of Some Methods for Solving Sparse Linear Least-Squares Problems, SIAM Journal on Scientific and Statistical Computing, vol.4, issue.2, pp.177-187, 1983.
DOI : 10.1137/0904013

J. A. George and J. W. Liu, Computer Solution of Large Sparse Positive Definite Systems, 1981.

J. A. George and J. W. Liu, Householder reflections versus givens rotations in sparse orthogonal decomposition, Linear Algebra and its Applications, vol.88, issue.89, pp.223-238, 1987.
DOI : 10.1016/0024-3795(87)90111-X

P. Gill, W. Murray, and M. Wright, Practical Optimization, 1981.

P. E. Gill, G. H. Golub, W. Murray, and M. Saunders, Methods for modifying matrix factorizations, Mathematics of Computation, vol.28, issue.126, pp.505-535, 1974.
DOI : 10.1090/S0025-5718-1974-0343558-6

G. Golub and C. F. Van-loan, Matrix Computations, 1996.

G. Golub and R. Plemmons, Large-scale geodetic least-squares adjustment by dissection and orthogonal decomposition, Linear Algebra and its Applications, vol.34, pp.3-28, 1980.
DOI : 10.1016/0024-3795(80)90156-1

URL : http://doi.org/10.1016/0024-3795(80)90156-1

S. Granshaw, BUNDLE ADJUSTMENT METHODS IN ENGINEERING PHOTOGRAMMETRY, The Photogrammetric Record, vol.25, issue.194, pp.181-207, 1980.
DOI : 10.1111/j.1477-9730.1980.tb00020.x

A. Greenbaum, Behavior of slightly perturbed Lanczos and conjugate-gradient recurrences, Linear Algebra and its Applications, vol.113, pp.7-63, 1989.
DOI : 10.1016/0024-3795(89)90285-1

A. Greenbaum, Iterative Methods for Solving Linear Systems, 1997.
DOI : 10.1137/1.9781611970937

A. Grün, Accuracy, reliability and statistics in close range photogrammetry In Inter-Congress Symposium of ISP Commission V, page Presented paper, 1978.

A. Grün, Precision and reliability aspects in close range photogrammetry, Int. Arch. Photogrammetry, vol.11, issue.23B, pp.378-391, 1980.

A. Grün, An optimum algorithm for on-line triangulation, Symposium of Commission III of the ISPRS, 1982.

A. Grün, Adaptive least squares correlation ? concept and first results, 1984.

A. Grün, Adaptive kleinste Quadrate Korrelation and geometrische Zusatzinformationen, pp.309-312, 1985.

A. Grün, Algorithmic aspects of on-line triangulation Photogrammetric Engineering & Remote Sensing, pp.419-436, 1985.

A. Grün and E. P. Baltsavias, Adaptive least squares correlation with geometrical constraints, SPIE Computer Vision for Robots, pp.72-82, 1985.

R. Gupta and R. I. Hartley, Linear pushbroom cameras, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.19, issue.9, 1997.
DOI : 10.1109/34.615446

M. S. Gyer, The inversion of the normal equations of analytical aerotriangulation by the method of recursive partitioning, 1967.

R. Hartley, Euclidean reconstruction from multiple views, pp.237-56, 1993.

R. Hartley, An object-oriented approach to scene reconstruction, 1996 IEEE International Conference on Systems, Man and Cybernetics. Information Intelligence and Systems (Cat. No.96CH35929), pp.2475-2480, 1996.
DOI : 10.1109/ICSMC.1996.561292

R. Hartley, Lines and points in three views and the trifocal tensor, International Journal of Computer Vision, vol.22, issue.2, pp.125-140, 1997.
DOI : 10.1023/A:1007936012022

R. Hartley, R. Gupta, and T. Chang, Stereo from uncalibrated cameras, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.761-765, 1992.
DOI : 10.1109/CVPR.1992.223179

R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2000.
DOI : 10.1017/CBO9780511811685

R. I. Hartley and T. Saxena, The cubic rational polynomial camera model, Image Understanding Workshop, pp.649-653, 1997.

F. Helmert, Die Mathematischen und Physikalischen Theorien der h ¨ oheren Geodäsie

B. Hendrickson and E. Rothberg, Improving the Run Time and Quality of Nested Dissection Ordering, SIAM Journal on Scientific Computing, vol.20, issue.2, pp.468-489, 1998.
DOI : 10.1137/S1064827596300656

K. R. Holm, Test of algorithms for sequential adjustment in on-line triangulation. Photogrammetria, pp.143-156, 1989.

M. Irani, P. Anadan, and M. Cohen, Direct recovery of planar-parallax from multiple frames. In Vision Algorithms: Theory and Practice, 2000.

K. Kanatani and N. Ohta, Optimal robot self-localization and reliability evaluation, European Conf. Computer Vision, pp.796-808, 1998.
DOI : 10.1007/BFb0054780

H. M. Karara, Non-Topographic Photogrammetry. Americal Society for Photogrammetry and Remote Sensing, 1989.

G. Karypis and V. Kumar, Parallel multilevel k-way partitioning scheme for irregular graphs, Proceedings of the 1996 ACM/IEEE conference on Supercomputing (CDROM) , Supercomputing '96, pp.96-129, 1998.
DOI : 10.1145/369028.369103

G. Karypis and V. Kumar, A Fast and High Quality Multilevel Scheme for Partitioning Irregular Graphs, SIAM Journal on Scientific Computing, vol.20, issue.1, pp.359-392, 1999.
DOI : 10.1137/S1064827595287997

I. P. King, An automatic reordering scheme for simultaneous equations derived from network systems, International Journal for Numerical Methods in Engineering, vol.95, issue.4, pp.479-509, 1970.
DOI : 10.1002/nme.1620020406

K. Kraus, Advanced Methods and Applications, Photogrammetry. Dümmler Fundamentals and Standard Processes, vol.12, 1997.

A. M. Legendre, Nouvelles méthodes pour la détermination des orbites des comètes

R. Levy, Restructuring the structural stiffness matrix to improve computational efficiency, Jet Propulsion Lab. Technical Review, vol.1, pp.61-70, 1971.

M. X. Li, Hierarchical Multi-point Matching with Simultaneous Detection and Location of Breaklines, 1989.

Q. Luong, R. Deriche, O. Faugeras, and T. Papadopoulo, On determining the fundamental matrix: Analysis of different methods and experimental results, 1993.
URL : https://hal.archives-ouvertes.fr/inria-00074777

S. Mason, Expert system-based design of close-range photogrammetric networks, ISPRS Journal of Photogrammetry and Remote Sensing, vol.50, issue.5, pp.13-24, 1995.
DOI : 10.1016/0924-2716(95)90117-W

S. O. Mason, Expert System Based Design of Photogrammetric Networks, 1994.

B. Matei and P. Meer, Bootstrapping a heteroscedastic regression model with application to 3D rigid motion evaluation In Vision Algorithms: Theory and Practice, 2000.

P. F. Mclauchlan, Gauge independence in optimization algorithms for 3D vision In Vision Algorithms: Theory and Practice, Lecture Notes in Computer Science, 1999.

P. F. Mclauchlan, Gauge invariance in projective 3D reconstruction In Multi-View Modeling and Analysis of Visual Scenes, 1999.

P. F. Mclauchlan, The variable state dimension filter, 1999.

P. F. Mclauchlan, A batch/recursive algorithm for 3D scene reconstruction, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662), 2000.
DOI : 10.1109/CVPR.2000.854948

P. F. Mclauchlan and D. W. Murray, A unifying framework for structure and motion recovery from image sequences, Proceedings of IEEE International Conference on Computer Vision, pp.314-334, 1995.
DOI : 10.1109/ICCV.1995.466923

P. F. Mclauchlan and D. W. Murray, Active camera calibration for a head-eye platform using the variable state-dimension filter, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.18, issue.1, pp.15-22, 1996.
DOI : 10.1109/34.476007

E. Mikhail and R. Helmering, Recursive methods in photogrammetric data reduction, Photogrammetric Engineering, vol.39, issue.9, pp.983-989, 1973.

E. Mittermayer, Zur Ausgleichung freier Netze Zeitschrift f ¨ ur Vermessungswesen, pp.481-489, 1962.

J. J. Moré and S. J. Wright, Optimization Software Guide, 1993.
DOI : 10.1137/1.9781611970951

D. D. Morris and T. Kanade, A unified factorization algorithm for points, line segments and planes with uncertainty models, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.696-702, 1998.
DOI : 10.1109/ICCV.1998.710793

D. D. Morris, K. Kanatani, and T. Kanade, Uncertainty modelling for optimal structure and motion. In Vision Algorithms: Theory and Practice, 2000.

J. Nocedal and S. J. Wright, Numerical Optimization, 1999.
DOI : 10.1007/b98874

M. Okutomi and T. Kanade, A multiple-baseline stereo, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.15, issue.4, pp.353-363, 1993.
DOI : 10.1109/34.206955

URL : http://repository.cmu.edu/cgi/viewcontent.cgi?article=3012&context=compsci

D. W. Proctor, THE ADJUSTMENT OF AERIAL TRIANGULATION BY ELECTRONIC DIGITAL COMPUTERS, The Photogrammetric Record, vol.4, issue.19, pp.24-33, 1962.
DOI : 10.1111/j.1477-9730.1962.tb00323.x

B. D. Ripley, Pattern Recongition and Neural Networks, 1996.

D. Rosenholm, Accuracy improvement of digital matching for elevation of digital terrain models, Int. Arch. Photogrammetry & Remote Sensing, vol.26, issue.32, pp.573-587, 1986.

S. Roy and I. Cox, A maximum-flow formulation of the N-camera stereo correspondence problem, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), 1998.
DOI : 10.1109/ICCV.1998.710763

Y. Saad, On the Rates of Convergence of the Lanczos and the Block-Lanczos Methods, SIAM Journal on Numerical Analysis, vol.17, issue.5, pp.687-706, 1980.
DOI : 10.1137/0717059

R. A. Snay, Reducing the profile of sparse symmetric matrices, Also NOAA Technical Memorandum NOS NGS-4, National Geodetic Survey, pp.341-352, 1976.
DOI : 10.1007/BF02521587

R. Szeliski, S. B. Kang, and H. Y. Shum, A parallel feature tracker for extended image sequences, Proceedings of International Symposium on Computer Vision, ISCV, 1995.
DOI : 10.1109/ISCV.1995.477008

R. Szeliski and S. B. Kang, Shape ambiguities in structure from motion, European Conf. Computer Vision, pp.709-721, 1996.
DOI : 10.1109/34.589211

R. Szeliski and H. Y. Shum, Motion estimation with quadtree splines, Int. Conf. Computer Vision, pp.757-763, 1995.
DOI : 10.1109/iccv.1995.466862

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

]. B. Triggs, A new approach to geometric fitting Available from http, 1997.

B. Triggs, Optimal Estimation of Matching Constraints, 3D Structure from Multiple Images of Large-scale Environments SMILE'98, 1998.
DOI : 10.1007/3-540-49437-5_5

URL : https://hal.archives-ouvertes.fr/inria-00548324

X. Wang and T. A. Clarke, Separate adjustment of close range photogrammetric measurements, Int. Symp. Photogrammetry & Remote Sensing, XXXII, part, vol.5, pp.177-184, 1998.

P. R. Wolf and C. D. Ghilani, Adjustment Computations: Statistics and Least Squares in Surveying and GIS, 1997.

B. P. Wrobel, Facets stereo vision (FAST vision) ? a new approach to computer stereo vision and to digital photogrammetry, ISPRS Intercommission Conf. Fast Processing of Photogrammetric Data, pp.231-258, 1987.