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A program is described for carrying out least-squares camera modelling and scene reconstruction from a set of image and scene measurements of geometric features. Because of the object-oriented nature of the program, it is easily extendible to include very general types of camera, image feature or measurement. A Levenberg-Marquardt parameter estimation algorithm is used to optimize the choice of camera and feature parameters to fit the measurements. A structured sparse technique is used to obtain speediest performance on large problems.
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Richard Hartley (2002) studied this question.
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