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:

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

Cite Us

If you use Ceres Solver for a publication, please cite it as:

  author = "Sameer Agarwal and Keir Mierle and Others",
  title = "Ceres Solver",
  howpublished = "\url{http://ceres-solver.org}",