References
Multiple View Geometry in Computer Vision, Richard Hartley and Andrew Zisserman, Cambridge University Press
Triangulation, Richard I. Hartley and Peter Sturm, Computer vision and image understanding, Vol. 68, pp . 146-157
On Benchmarking Camera Calibration and Multi-View Stereo for High Resolution Imagery,C. Strecha, W. von Hansen, L. Van Gool, P. Fua, and U. Thoennes sen, CVPR
http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping