[{"data":1,"prerenderedAt":58},["ShallowReactive",2],{"method-ceres_software":3},{"method":4,"reference":37,"equipment":56,"figures":57,"results":46},{"id":5,"label":6,"shortName":7,"title":7,"year":8,"era":9,"cluster":10,"scope":11,"keyIdeaZh":12,"keyIdeaEn":13,"fulltextStatus":14,"publicationStatus":15,"recommendation":16,"constructionRelevance":17,"validationEnvironment":18,"strengths":19,"limitations":24,"sensors":29,"platform":30,"estimator":31,"association":32,"timeModel":32,"deskew":32,"loopClosure":32,"globalOptimization":32,"mapRepresentation":32,"prior":32,"outputGeometry":32,"compute":33,"codeUrl":34,"codeLicense":35,"relatedVersions":36},"ceres_software","Agarwal et al., 2023","Ceres Solver",2023,"classic","C03","estimation_framework_or_library","Ceres Solver 是 Google 發展的開源 C++ 大規模最佳化程式庫，可求解含邊界限制的非線性最小平方問題與一般無約束最佳化。官方版本歷史說明其於 2010 年開始開發、2012 年 5 月開源釋出，並提供軟體引用格式（無 DOI）。本群集中 Cioffi 等人的連續與離散時間比較即以其 Levenberg-Marquardt 與自動微分求解。","Ceres Solver is Google's open-source C++ library for bounded nonlinear least squares and unconstrained optimization, released in May 2012 and cited via a software citation without DOI.","partial_sections_reviewed","software_or_dataset_record","background","未在營建場域驗證；官方使用者清單提到 Matterport 以 Ceres 進行三維點雲全域對齊與位姿圖最佳化（users.html），此類室內掃描用途與營建紀錄的關聯屬推論。",[],[20,21,22,23],"Feature-rich, mature library used in production at Google since 2010 (README)","Automatic, numeric and analytic derivatives can be mixed in any combination (features.html)","Schur-complement-based dense, sparse and iterative linear solvers for bundle adjustment, and covariance estimation at scale (features.html)","Self-reported as the best performing solver on the NIST problem set used by Mondragon and Borchers (features.html; not independently verified here)",[25,26,27,28],"No DOI-based archival record found; citation relies on CITATION.cff or website bibtex (inference from sources checked)","Finds a local minimum; the documentation states efficient global minimization is intractable in general (nnls_solving.html, Introduction)","Version 2.2.0 removed LocalParameterization (replaced by Manifold) and dropped the OpenMP, NO_THREADING and CX_SPARSE backends, so older integrations may need changes (version_history.html)","The documentation gives inconsistent start years for production use at Google (2010 on index and README, 2011 on features.html)",[],[],"robustified, bounds-constrained nonlinear least squares and general unconstrained optimization: trust-region solvers (Levenberg-Marquardt, traditional and subspace Dogleg) and line-search solvers (nonlinear CG, BFGS, LBFGS); linear solvers DENSE_QR, DENSE_NORMAL_CHOLESKY, SPARSE_NORMAL_CHOLESKY, CGNR, DENSE_SCHUR, SPARSE_SCHUR and ITERATIVE_SCHUR, plus a Schur power series expansion (Power Bundle Adjustment) that is enabled through ITERATIVE_SCHUR options rather than as a separate solver type; automatic, numeric and analytic derivatives; loss functions (Huber, SoftLOne, Cauchy, Arctan, Tolerant, Tukey); Manifold parameterizations (e.g. QuaternionManifold); covariance estimation","not_applicable","C++ library; version 2.2.0 requires a C++17 compiler and CMake 3.16 or later, uses C++ threads for multithreading and can use CUDA on NVIDIA GPUs for dense solvers and CGNR; runs on Linux, Windows, macOS, Android and iOS","https:\u002F\u002Fgithub.com\u002Fceres-solver\u002Fceres-solver","Official license page: New BSD (3-clause) for Ceres itself; the repository LICENSE file reproduces the BSD text followed by the full Apache-2.0 text and an MIT notice for libmv-derived example code; CITATION.cff and website bibtex list Apache-2.0. State 'BSD (per ceres-solver.org\u002Flicense.html)' and note the Apache-2.0 metadata discrepancy",[],{"id":5,"kind":38,"shortName":7,"title":7,"authors":39,"year":8,"venue":43,"venueType":38,"publisher":44,"volumeIssuePages":45,"doi":46,"arxivId":46,"url":47,"firstPublicDate":48,"publicationStatus":15,"metadataStatus":49,"fulltextStatus":14,"era":9,"classicReason":50,"codeUrl":34,"cluster":10,"topics":51,"mdpi":52,"verification":53,"label":6,"fulltextRoute":54,"versionRead":55,"addedByCensus":52},"software",[40,41,42],"Sameer Agarwal","Keir Mierle","The Ceres Solver Team","Software (GitHub ceres-solver\u002Fceres-solver; ceres-solver.org)","Google (open-source project)","version 2.2 (CITATION.cff date-released 2023-10-13)",null,"http:\u002F\u002Fceres-solver.org\u002F","2012-05","metadata_partial","reproducible baseline: general nonlinear least-squares solver released as open source in May 2012 (official version history) and used as the optimizer in several SLAM and calibration studies, e.g. cioffi2022ctvsdt.",[10],false,"corrected","other","Ceres Solver 2.2.0 documentation at ceres-solver.org and GitHub HEAD files (README, CITATION.cff version 2.2, date-released 2023-10-13) as served on 2026-09-25; GitHub tags list 2.2.0 as the latest release tag",[],[],1790510664690]