  A viewing graph is a set of unknown camera poses, as the vertices, and the
observed relative motions, as the edges. Solving the viewing graph is an
essential step in a Structure-from-Motion procedure, where a set of relative
motions is obtained from a collection of 2D images. Almost all methods in the
literature solve for the rotations separately, through rotation averaging
process, and use them for solving the positions. Obtaining positions is the
challenging part because the translation observations only tell the direction
of the motions. It becomes more challenging when the set of edges comprises
pairwise translation observations between either near and far cameras. In this
paper an iterative method is proposed that overcomes these issues. Also a
method is proposed which obtains the rotations and positions simultaneously.
Experimental results show the-state-of-the-art performance of the proposed
methods.
