The QUAKES-I June 2021 imagery is being evaluated with the Linear Bundle Adjustment (LBA) algorithm. This algorithm is a linearized solution for Bundle Adjustment designed for efficient implementation. The steps of the algorithm:

1. Generate a mosaic image using the QUAKES-I geometry.
2. Find features in the mosaic and locate the features in subsequent frames.
3. Perform LBA on the features to construct a pose graph for each mosaic.
4. Use forward and aft mosaics of the same region to generate terrain (3D terrain map).