General and nested Wiberg minimization

One of the described methods includes receiving a plurality of images from a camera, the plurality of images comprising a sequence; identifying one or more two-dimensional features in each of a plurality of images in the received sequence of images; associating a three-dimensional point with each of the identified one or more two-dimensional features; tracking each of the one or more two-dimensional features through successive images in the plurality of images; and iteratively minimizing a two-dimensional image error between the tracked each of the one or more two-dimensional features and an image reprojection with respect to the three-dimensional point corresponding to the one or more two-dimensional features and a three-dimensional position of the camera corresponding to one or more of the plurality of images.