1=============== 2Further Reading 3=============== 4 5For a short but informative introduction to the subject we recommend 6the booklet by [Madsen]_ . For a general introduction to non-linear 7optimization we recommend [NocedalWright]_. [Bjorck]_ remains the 8seminal reference on least squares problems. [TrefethenBau]_ book is 9our favorite text on introductory numerical linear algebra. [Triggs]_ 10provides a thorough coverage of the bundle adjustment problem. 11