1. A method programmed in a non-transitory memory of a device comprising: a. obtaining camera ordering of a plurality of cameras; b. selecting and positioning an initial camera pair of the plurality of cameras; and c. estimating a camera position of a camera not in the initial camera pair of the plurality of cameras using the camera ordering of the plurality of cameras, wherein the camera position is estimated utilizing a distance test, a ratio test and an epipolar line test, wherein the distance test, the ratio test and the epipolar line test are all used to remove outlier information, wherein a binary map stores neighboring camera information, wherein each row of the binary map represents neighboring cameras of the camera.