%!TEX root = ceres.tex
\chapter{Further Reading}
\label{chapter:further}
 For a short but informative introduction to the subject we recommend the booklet by Madsel et al.~\cite{madsen2004methods}. For a general introduction to non-linear optimization we recommend the text by Nocedal \& Wright~\cite{nocedal2000numerical}. Bj{\"o}rck's book remains the seminal reference on least squares problems~\cite{bjorck1996numerical}. Trefethen \& Bau's book is our favourite text on introductory numerical linear algebra~\cite{trefethen1997numerical}. Triggs et al., provide a thorough coverage of the bundle adjustment problem~\cite{triggs-etal-1999}.