@article{rpbarobustparallelbundleadjustmentbased,
  title = {RPBA -- Robust Parallel Bundle Adjustment Based on Covariance Information},
  author = {Helmut Mayer},
  year = {2019},
  eprint = {1910.08138},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.08138v1},
}