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      1 @article{ruhe-wedin,
      2   title={Algorithms for separable nonlinear least squares problems},
      3   author={Ruhe, A. and Wedin, P.{\AA}.},
      4   journal={Siam Review},
      5   volume={22},
      6   number={3},
      7   pages={318--337},
      8   year={1980},
      9   publisher={SIAM}
     10 }
     11 @article{golub-pereyra-73,
     12   title={The differentiation of pseudo-inverses and nonlinear least squares problems whose variables separate},
     13   author={Golub, G.H. and Pereyra, V.},
     14   journal={SIAM Journal on numerical analysis},
     15   volume={10},
     16   number={2},
     17   pages={413--432},
     18   year={1973},
     19   publisher={SIAM}
     20 }
     21 
     22 @inproceedings{wiberg,
     23   title={Computation of principal components when data are missing},
     24   author={Wiberg, T.},
     25   booktitle={Proc. Second Symp. Computational Statistics},
     26   pages={229--236},
     27   year={1976}
     28 }
     29 @book{conn2000trust,
     30   title={Trust-region methods},
     31   author={Conn, A.R. and Gould, N.I.M. and Toint, P.L.},
     32   volume={1},
     33   year={2000},
     34   publisher={Society for Industrial Mathematics}
     35 }
     36 @article{byrd1988approximate,
     37   title={Approximate solution of the trust region problem by minimization over two-dimensional subspaces},
     38   author={Byrd, R.H. and Schnabel, R.B. and Shultz, G.A.},
     39   journal={Mathematical programming},
     40   volume={40},
     41   number={1},
     42   pages={247--263},
     43   year={1988},
     44   publisher={Springer}
     45 }
     46 @article{stigler1981gauss,
     47   title={Gauss and the invention of least squares},
     48   author={Stigler, S.M.},
     49   journal={The Annals of Statistics},
     50   volume={9},
     51   number={3},
     52   pages={465--474},
     53   year={1981},
     54   publisher={Institute of Mathematical Statistics}
     55 }
     56 
     57 @inproceedings{kushal2012,
     58   title={Visibility Based Preconditioning for Bundle Adjustment},
     59   author={Kushal, A. and Agarwal, S.},
     60   booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
     61   year={2012},
     62 }
     63 
     64 @article{nash1990assessing,
     65   title={Assessing a search direction within a truncated-Newton method},
     66   author={Nash, S.G. and Sofer, A.},
     67   journal={Operations Research Letters},
     68   volume={9},
     69   number={4},
     70   pages={219--221},
     71   year={1990}
     72 }
     73 
     74 @inproceedings{wu2011multicore,
     75   title={Multicore bundle adjustment},
     76   author={Wu, C. and Agarwal, S. and Curless, B. and Seitz, S.M.},
     77   booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
     78   pages={3057--3064},
     79   year={2011},
     80 }
     81 
     82 @inproceedings{Agarwal10bal,
     83  author = {Agarwal, S. and Snavely, N. and Seitz, S. M. and Szeliski, R.},
     84  title = {Bundle adjustment in the large},
     85 booktitle = {Proceedings of the European Conference on Computer Vision},
     86  year = {2010},
     87  pages = {29--42},
     88 }
     89 
     90 @article{li2007miqr,
     91   title={MIQR: A multilevel incomplete QR preconditioner for large sparse least-squares problems},
     92   author={Li, Na and Saad, Y.},
     93   journal={SIAM Journal on Matrix Analysis and Applications},
     94   volume={28},
     95   number={2},
     96   pages={524--550},
     97   year={2007},
     98   publisher={Society for Industrial and Applied Mathematics}
     99 }
    100 
    101 @article{wright1985inexact,
    102         Author = {Wright, S. J. and Holt, J. N.},
    103 	Journal = {Journal of the Australian Mathematical Society Series B},
    104 	Pages = "387--403",
    105 	Title = {{An Inexact Levenberg-Marquardt Method for Large Sparse Nonlinear Least Squares}},
    106 	Volume = 26,
    107 	Number = 4,
    108 	Year = 1985
    109 }
    110 
    111 @article{elsner1984note,
    112 	Author = {Elsner, L.},
    113 	Journal = {Numer. Math.},
    114 	Number = {1},
    115 	Pages = {127--128},
    116 	Publisher = {Springer},
    117 	Title = {{A note on optimal block-scaling of matrices}},
    118 	Volume = {44},
    119 	Year = {1984}}
    120 
    121 @article{hestenes1952methods,
    122 	Author = {Hestenes, M.R. and Stiefel, E.},
    123 	Journal = {Journal of research of the National Bureau of Standards},
    124 	Number = {6},
    125 	Pages = {409--436},
    126 	Title = {{Methods of conjugate gradients for solving linear systems}},
    127 	Volume = {49},
    128 	Year = {1952}}
    129 
    130 @book{mathew2008domain,
    131 	Author = {Mathew, T.P.A.},
    132 	Publisher = {Springer Verlag},
    133 	Title = {{Domain decomposition methods for the numerical solution of partial differential equations}},
    134 	Year = {2008}}
    135 
    136 @book{smith2004domain,
    137 	Author = {Smith, B.F. and Bjorstad, P.E. and Gropp, W.},
    138 	Publisher = {Cambridge University Press},
    139 	Title = {{Domain decomposition}},
    140 	Year = {2004}}
    141 
    142 @article{demmel1983condition,
    143 	Author = {Demmel, J.},
    144 	Journal = {SINUM},
    145 	Number = {3},
    146 	Pages = {599--610},
    147 	Title = {{The condition number of equivalence transformations that block diagonalize matrix pencils}},
    148 	Volume = {20},
    149 	Year = {1983}}
    150 
    151 @article{eisenstat1982optimal,
    152 	Author = {Eisenstat, S.C. and Lewis, J.W. and Schultz, M.H.},
    153 	Journal = {Linear Algebra Appl.},
    154 	Pages = {181--186},
    155 	Title = {{Optimal Block Diagonal Scaling of Block 2-Cyclic Matrices.}},
    156 	Volume = {44},
    157 	Year = {1982}}
    158 
    159 @article{mandel1990block,
    160 	Author = {Mandel, J.},
    161 	Journal = {Numer. Math.},
    162 	Number = {1},
    163 	Pages = {79--93},
    164 	Publisher = {Springer},
    165 	Title = {{On block diagonal and Schur complement preconditioning}},
    166 	Volume = {58},
    167 	Year = {1990}}
    168 
    169 @book{davis2006direct,
    170 	Author = {Davis, T.A.},
    171 	Publisher = {SIAM},
    172 	Title = {{Direct methods for sparse linear systems}},
    173 	Year = {2006}}
    174 
    175 @TechReport{brown-58,
    176   author =       {D. C. Brown},
    177   title =        {A solution to the general problem of multiple station analytical stereo triangulation},
    178   institution =  {Patrick Airforce Base},
    179   year =         {1958},
    180   Tkey =       {AFMTC TR 58-8},
    181   number =    {43},
    182   address =   {Florida},
    183 }
    184 
    185 @book{hartley-zisserman-book-2004,
    186         Author = {Hartley, R.~I. and Zisserman, A.},
    187         Publisher = {Cambridge University Press},
    188         Title = {Multiple View Geometry in Computer Vision},
    189         Year = {2003}}
    190 
    191 
    192 @book{trefethen1997numerical,
    193 	Author = {Trefethen, L.N. and Bau, D.},
    194 	Publisher = {SIAM},
    195 	Title = {{Numerical Linear Algebra}},
    196 	Year = {1997}}
    197 
    198 @book{saad2003iterative,
    199 	Author = {Saad, Y.},
    200 	Publisher = {SIAM},
    201 	Title = {{Iterative methods for sparse linear systems}},
    202 	Year = {2003}}
    203 
    204 
    205 @book{nocedal2000numerical,
    206 	Author = {Nocedal, J. and Wright, S. J.},
    207 	Publisher = {Springer},
    208 	Title = {{Numerical Optimization}},
    209 	Year = {2000}}
    210 
    211 @book{bjorck1996numerical,
    212 	Author = {Bj{\"o}rck, A.},
    213 	Publisher = {SIAM},
    214 	Title = {{Numerical methods for least squares problems}},
    215 	Year = {1996}}
    216 
    217 @book{madsen2004methods,
    218 	Author = {Madsen, K. and Nielsen, H.B. and Tingleff, O.},
    219 	Title = {{Methods for non-linear least squares problems}},
    220 	Year = {2004}}
    221 
    222 
    223 @article{marquardt1963algorithm,
    224 	Author = {Marquardt, D.W.},
    225 	Journal = {J. SIAM},
    226 	Number = {2},
    227 	Pages = {431--441},
    228 	Publisher = {SIAM},
    229 	Title = {{An algorithm for least-squares estimation of nonlinear parameters}},
    230 	Volume = {11},
    231 	Year = {1963}}
    232 
    233 @article{levenberg1944method,
    234 	Author = {Levenberg, K.},
    235 	Journal = {Quart. Appl. Math},
    236 	Number = {2},
    237 	Pages = {164--168},
    238 	Title = {{A method for the solution of certain nonlinear problems in least squares}},
    239 	Volume = {2},
    240 	Year = {1944}}
    241 
    242 @article{chen2006acs,
    243 	Article = {22},
    244 	Author = {Chen, Y. and Davis, T. A. and Hager, W. W. and Rajamanickam, S.},
    245 	Journal = {TOMS},
    246 	Number = {3},
    247 	Title = {{Algorithm 887: CHOLMOD, Supernodal Sparse {Cholesky} Factorization and Update/Downdate}},
    248 	Volume = {35},
    249 	Year = {2008}}
    250 
    251 
    252 @inproceedings{triggs-etal-1999,
    253 	Author = {Triggs, B. and McLauchlan, P. F. and Hartley, R. I. and Fitzgibbon, A. W.},
    254 	Booktitle = {Vision Algorithms},
    255 	Pages = {298-372},
    256 	Title = {{Bundle Adjustment - A Modern Synthesis}},
    257 	Year = {1999}}
    258 
    259 
    260 @article{tennenbaum-director,
    261 Author = {Tennenbaum, J. and Director, B.},
    262 Title = {{How Gauss Determined the Orbit of Ceres}}
    263 }
    264 
    265