Thispaperisasurveyofthetheoryandmethodsofphotogrammetricbundleadjustment,aimedatpotentialimplementorsinthecomputervisioncommunity.Bundleadjustmentistheproblemofrefiningavisualreconstructiontoproducejointlyoptimalstructureandviewingparameterestimates.Topicscoveredinclude:thechoiceofcostfunctionandrobustness;numericaloptimizationincludingsparseNewtonmethods,linearlyconvergentapproximations,updatingandrecursivemethods;gauge(datum)invariance;andqualitycontrol.Thetheoryisdevelopedforgeneralrobustcostfunctionsratherthanrestrictingattentiontotraditionalnonlinearleastsquares.
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