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-.. _chapter-introduction:
-
-============
-Introduction
-============
-
-Solving nonlinear least squares problems [#f1]_ comes up in a broad
-range of areas across science and engineering - from fitting curves in
-statistics, to constructing 3D models from photographs in computer
-vision. Ceres Solver [#f2]_ [#f3]_ is a portable C++ library for
-solving non-linear least squares problems accurately and efficiently.
-
-**Features**
-
-#. A friendly :ref:`chapter-modeling` API.
-
-#. Automatic and numeric differentiation.
-
-#. Robust loss functions and local parameterizations.
-
-#. Multithreading.
-
-#. Trust-Region (Levenberg-Marquardt and Dogleg) and Line Search
-   (Nonlinear CG and L-BFGS) solvers.
-
-#. Variety of linear solvers.
-
-   a. Dense QR and Cholesky factorization (using `Eigen
-      <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_) for
-      small problems.
-
-   b. Sparse Cholesky factorization (using `SuiteSparse
-      <http://www.cise.ufl.edu/research/sparse/SuiteSparse/>`_ and
-      `CXSparse <http://www.cise.ufl.edu/research/sparse/CSparse/>`_) for
-      large sparse problems.
-
-   c. Specialized solvers for bundle adjustment problems in computer
-      vision.
-
-   d. Iterative linear solvers with preconditioners for general sparse
-      and bundle adjustment problems.
-
-#. Portable: Runs on Linux, Windows, Mac OS X and Android.
-
-
-At Google, Ceres Solver has been used for solving a variety of
-problems in computer vision and machine learning. e.g., it is used to
-to estimate the pose of Street View cars, aircrafts, and satellites;
-to build 3D models for PhotoTours; to estimate satellite image sensor
-characteristics, and more.
-
-`Blender <http://www.blender.org>`_ uses Ceres for `motion tracking
-<http://mango.blender.org/development/planar-tracking-preview/>`_ and
-`bundle adjustment
-<http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.67/Motion_Tracker>`_.
-
-
-.. rubric:: Footnotes
-
-.. [#f1] For a gentle but brief introduction to non-linear least
-         squares problems, please start by reading the
-         :ref:`chapter-tutorial`.
-
-.. [#f2] While there is some debate as to who invented the method of
-         Least Squares [Stigler]_, there is no debate that it was
-         `Carl Friedrich Gauss
-         <http://en.wikipedia.org/wiki/Carl_Friedrich_Gauss>`_ who
-         brought it to the attention of the world. Using just 22
-         observations of the newly discovered asteroid `Ceres
-         <http://en.wikipedia.org/wiki/Ceres_(dwarf_planet)>`_, Gauss
-         used the method of least squares to correctly predict when
-         and where the asteroid will emerge from behind the Sun
-         [TenenbaumDirector]_. We named our solver after Ceres to
-         celebrate this seminal event in the history of astronomy,
-         statistics and optimization.
-
-.. [#f3] For brevity, in the rest of this document we will just use
-         the term Ceres.
-
-
-