1. A method, comprising: performing, by one or more computing devices: obtaining structure and motion parameter estimates for a three-dimensional (3D) reconstruction of a scene based on a set of images, wherein the structure and motion parameters include one or more camera parameters and a plurality of 3D points in the scene; and applying bundle adjustment to the structure and motion parameter estimates, wherein said bundle adjustment comprises: detecting one or more poorly conditioned points in the plurality of 3D points and removing the detected one or more poorly conditioned points from the plurality of 3D points; and optimizing the structure and motion parameter estimates to generate optimized structure and motion parameter estimates, wherein said one or more poorly conditioned points are not used in said optimization.