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## [Help-gsl] Beginner trying to use nonlinear least squares

**From**: |
James Fitzsimons |

**Subject**: |
[Help-gsl] Beginner trying to use nonlinear least squares |

**Date**: |
Thu, 06 Oct 2005 22:32:48 +0100 |

Hi all,
I need to compute a nonlinear least squares solution for my computer
vision project. I am trying to work out the ego motion
(x,y,z,roll,pitch,yaw) of my camera system given two observed point sets
that represent the same features at time t0 and t1.
I think I need to be using the functions for multidimensional nonlinear
least-squares fitting. The thing I am having trouble understanding is
how to provide the function(s) to be minimised.
If I am trying to compute the partial derivative of x for the i'th point
and my function looks something like this:
delta_Ci = (u0 + (f * (Xi - delta_x) / Zi)) - (u0 + (f * Xi / Zi))
(where u0 and f are constants).
How would I construct a gsl_multifit_function_fdf for this?
Any help you can provide would very much appreciated!
Regards,
James Fitzsimons

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**[Help-gsl] Beginner trying to use nonlinear least squares**,
*James Fitzsimons* **<=**