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Figure 1: Triplet matching results after refinement by the trifocaltensor. Accepted matches are shown in green, rejected matchesare shown in red colour.
Figure 4: Trace criterion of the covariance matrix Σfirst 161 estimated object coordinates (blue) and of the exteriororientation parameters of the first two images (green) over fivexˆxˆ of thesubsequent epochs of incremental bundle adjustment.

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