This is Michel Morgan's dissertation which is available online from the university of Calgary. It's all about what you want.
Your questions are not considered to be common professional questions in photogrammetry community. They are challenging, academic and need a lot of search.
Take this as an advice and try to expand your searching abilities. I can search for you but this way, I'll give you just a fish and won't teach you fishing -Iranian proverb, I don't know what is the equivalent in English :)
No one will give up his time to search instead of you in Q&A communities. I just searched because this was interesting for me. People rarely get engaged with just a single question.
For success in academic life, you need to be a good searcher not just a good questioner and nowadays online searching is the key part of searching.
When encountering with such academic questions (not common professional questions like working with a specific software, etc)
- Try to search in scholar.google.com not in google.com
- Try to use good keywords (This is a skill you will learn by experience and in time)
- another resource can be books.google.com
- when you are searching for lecture notes or pieces of code on google.com, paste their URL on the top of your browser and manipulate it a bit to access other parts of the FTP. Maybe you can find better material.
- When you find a paper that you think is somehow related but not very related to your search topic, have a look at the paper's references and citations. maybe you could find a good resource among them.
- Try to get familiar with major journals in your field and search in the journal's site. here's a list of remote sensing journals. Try to have such list for your own field of study.
- Get familiar with scientific databases like science direct, scopus, IEEE, etc and use them in your search
- At last if you couldn't find a very good resource, ask a comprehensive question here and include your search results so far to give others a clue to help you
These were just some techniques that I had in mind and I'm learning as a student. If you do search yourself, you will find better techniques to be a good searcher.