1. In a computing environment, a method performed on at least one processor comprising: obtaining camera rotation data for a plurality of cameras corresponding to a plurality of scene images; selecting pairs of cameras based upon observed two-dimensional point correspondences in the scene images; determining for each pair of images where a reliable estimate of the epipolar geometry is available, the translation direction and coordinates of three-dimensional points observed in the corresponding images; selecting pairs of pairs; determining, for each of the pairs of the pairs, a relative geometric transformation that brings the pairs of pairs into a common coordinate system to provide common three-dimensional points and outliers, wherein determining the relative geometric transformation comprises using known rotation data to parameterize the transformation by scale and a translation vector; removing the outliers; and processing data corresponding to the common three-dimensional points in a linear system to determine data corresponding to linear structure from motion parameters.