In a recent paper (Fusiello and Crosilla, 2015) a Procrustean formulation of the bundle block adjustment has been presented, with
a solution based on alternating least squares. This paper improves on it in two respects: it introduces a faster iterative scheme that
minimizes the same cost function, thereby achieving the same accuracy, and makes the method resistant to rogue measures through
iteratively reweighted least-squares. Empirical results confirm the effectiveness of these enhancements.
