What rhymes with bundle adjustment?
bun·dle ad·just·ment

Given a set of images depicting a number of 3D points from different viewpoints, bundle adjustment can be defined as the problem of simultaneously refining the 3D coordinates describing the scene geometry as well as the parameters of the relative motion and the optical characteristics of the camera employed to acquire the images, according to an optimality criterion involving the corresponding image projections of all points. Bundle adjustment is almost always used as the last step of every feature-based 3D reconstruction algorithm. It amounts to an optimization problem on the 3D structure and viewing parameters, to obtain a reconstruction which is optimal under certain assumptions regarding the noise pertaining to the observed image features: If the image error is zero-mean Gaussian, then bundle adjustment is the Maximum Likelihood Estimator. Its name refers to the bundles of light rays originating from each 3D feature and converging on each camera's optical center, which are adjusted optimally with respect to both the structure and viewing parameters. Bundle adjustment was originally conceived in the field of photogrammetry during 1950s and has increasingly been used by computer vision researchers during recent years.

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