1. A method of determining at least one of camera parameters and three dimensional locations of features in images from a plurality of images of an area, comprising: determining a correlation between a pose of a first camera and a pose of a second camera, wherein a strength of the correlation is based at least upon a time difference between respective image captures by the first camera and the second camera, and wherein positions and poses of the first camera and the second camera are substantially rigid relative to each other; generating one or more constraints incorporating the correlation; and determining at least one of camera parameters and three dimensional locations of features using a plurality of constraints including the generated one or more constraints.