https://web.archive.org/web/20140103233938/http://www.inf.ethz.ch/personal/chzach/opensource.html https://web.archive.org/web/20140103233938/http://www.inf.et..

https://web.archive.org/web/20140103233938/http://www.inf.ethz.ch/personal/chzach/opensource.html https://web.archive.org/web/20140103233938/http://www.inf.et... (ETH removed the website recently) given that ETH is on Tango and that page also mentions SuiteSparse (also used for Google autonomous cars), it could be the case that Tango is based on Structure from Motion. http://www.cise.ufl.edu/research/sparse/SuiteSparse/ http://www.cise.ufl.edu/research/sparse/SuiteSparse/ another related page is still up: http://www.inf.ethz.ch/personal/acohen/papers/symmetryBA.php http://www.inf.ethz.ch/personal/acohen/papers/symmetryBA.php