Ceres Solver 是一个可移植的 C++ 库，可用来建模并解决大型复杂的非线性最小二乘问题。它的显著特性如下：
• A simple, expressive API | 简单易读的 API
• Automatic differentiation | 自动微分
• Robust loss functions | 稳健的损失函数
• Local parameterizations | 局部参数
• A threaded Jacobian evaluators and linear solvers
• Dense QR factorization (using Eigen) for small problems
• Sparse Cholesky factorization (using SuiteSparse) for large sparse problems
• Specialized solvers for problems in 3D computer vision | 三维计算机视觉中的问题的特定解决方案
• A liberal license (New BSD)
• Scales from servers to cell phones.
