This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

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Existing models for describing a process (such as a business process or a software development process) tend to focus on the \what " or the \how " of the process. For example, a health insurance claim process would typically be described in terms of a number of steps for assessing and approving a claim. In trying to improve orredesign a process, however, one also needs to have an understanding of the \why " { for example, why dophysicians submit treatment plans to insurance companies before giving treatment? and why do claims managers seek medical opinions when assessing treatment plans? An understanding of the motivations and interests of process participants is often crucial to the successful redesign of processes. This thesis proposes a modelling framework i (pronounced i-star) consisting of two modelling components. The Strategic Dependency (SD) model describes a process in terms of intentional dependency relationships among agents. Agents depend on each other for goals to be achieved, tasks to be performed, and resources to be furnished. Agents are intentional in that they have desires and wants, and strategic in that they are concerned about opportunities and vulnerabilities. The Strategic Rationale (SR) model describes the issues and concerns that agents

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Copyright c ○ 2005 by Cambridge University Press. This material is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University

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ly, the remote procedure call problem, which an RPC protocol undertakes to solve, consists of emulating LPC using message passing. LPC has a number of "properties" -- a single procedure invocation results in exactly one execution of the procedure body, the result returned is reliably delivered to the invoker, and exceptions are raised if (and only if) an error occurs. Given a completely reliable communication environment, which never loses, duplicates, or reorders messages, and given client and server processes that never fail, RPC would be trivial to solve. The sender would merely package the invocation into one or more messages, and transmit these to the server. The server would unpack the data into local variables, perform the desired operation, and send back the result (or an indication of any exception that occurred) in a reply message. The challenge, then, is created by failures. Were it not for the possibility of process and machine crashes, an RPC protocol capable of overcomi...

-called complex system found in humans (which allows rapid imitation even of complex sequences, under appropriate conditions) which supports pantomime. This is hypothesized to have provided the substrate for the development of protosign, a combinatorially open repertoire of manual gestures, which then provides