1. A method of estimating camera position information from a series of source images that form a panorama, the method comprising: estimating a transform between adjoining image pairs in said series based on common features within said adjoining image pairs; determining a rotational component for each transform and three-dimensional coordinates for said common features; adjusting each of the rotational components to reduce errors between corresponding ones of said coordinates in adjoining image pairs; and calculating focal lengths based on the adjusted rotational components.