3D vision matrices, M. Lourakis, Foundation for Research & Technology - Hellas. Inst. of Computer Science Foundation for Research & Technology - Hellas PO Box 1385 Heraklion, Crete, GR-711 10 GREECE http://www.ics.forth.gr/~lourakis http://www.ics.forth.gr/~lourakis/sba SBA: A Generic Sparse Bundle Adjustment C/C++ Package based on the Levenberg-Marquardt Algorithm.