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非线性最小二乘

 2 years ago
source link: https://charon-cheung.github.io/2022/09/17/%E7%AE%97%E6%B3%95%E6%8E%A8%E5%AF%BC/%E9%9D%9E%E7%BA%BF%E6%80%A7%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98/
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非线性最小二乘 | 沉默杀手

非线性最小二乘
2022-09-17|算法推导|
Word count: 177|Reading time: 1 min

照搬其他人的讲解。

方程个数 > 未知数个数，也就是”超定”线性方程组。方程个数比未知数个数多，可以想象不同方程之间会出现”冲突”的现象，也就是说导致整个方程组没有精确解。但我们只要设定一个误差标准，找到一个让这个误差标准值最小的近似解也是完全可以接收的。即针对超定不相容线性方程组，利用最小二乘误差标准求解近似值。

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1.1 首先构建位姿之间的关系，即图的边
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下面和开头的非线性最小二乘的推导一样了
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