Lu, FangfangHartley, Richard2015-12-08November 19783540763857http://hdl.handle.net/1885/31249This paper presents a practical method for obtaining the global minimum to the least-squares (L2) triangulation problem. Although optimal algorithms for the triangulation problem under L∞-norm have been given, finding an optimal solution to the L2 trianKeywords: Global estimate; Global optimality; Algorithms; Branch and bound method; Cost functions; Iterative methods; Linear programming; Problem solving; Triangulation20072015-12-08