Ceres Solver¶
Ceres Solver is an open source C++ library for modeling and solving large complicated nonlinear least squares problems. It is a feature rich, mature and performant library which has been used in production since 2010. At Google, Ceres Solver is used to:
- Estimate the pose of Street View cars, aircrafts, and satellites.
- Build 3D models for PhotoTours.
- Estmate satellite image sensor characteristics.
- Stitch panoramas or apply Lens Blur on Android.
- Solve bundle adjustment and SLAM problems in Project Tango.
Outside Google, Ceres is used for solving problems in computer vision, computer graphics, astronomy and physics. e.g., Willow Garage uses it to solve SLAM problems and Blender uses it for for planar tracking and bundle adjustment.
Getting started¶
Download the latest stable release or clone the Git repository for the latest development version.
git clone https://ceres-solver.googlesource.com/ceres-solver
Read the Tutorial, browse the chapters on the Modeling API and the Solving API.
Join the mailing list and ask questions.
File bugs, feature requests in the issue tracker.
Cite Us¶
If you use Ceres Solver for a publication, please cite it as:
@misc{ceres-solver,
author = "Sameer Agarwal and Keir Mierle and Others",
title = "Ceres Solver",
howpublished = "\url{http://ceres-solver.org}",
}