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Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained optimization problems. It serves as a framework for automatic differentiation and robust curve fitting, providing tools to solve large-scale mathematical models. The library is distinguished by its bundle adjustment capabilities, which exploit sparse matrix structures to refine 3D scene points and camera parameters. It utilizes dual-number automatic differentiation to compute derivatives of cost functions, removing the need for manual Jacobian derivation. The project covers a
CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
libcmaes is a multithreaded C++11 library with Python bindings for high performance blackbox stochastic optimization using the CMA-ES algorithm for Covariance Matrix Adaptation Evolution Strategy
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
Extensible Optimization Framework
The main features of ipab-slmc/exotica are: Optimization Solvers, Robotics Libraries.
Open-source alternatives to ipab-slmc/exotica include: ceres-solver/ceres-solver — Ceres Solver is a C++ library for numerical optimization, specializing in non-linear least squares and unconstrained… coin-or/shot — A solver for mixed-integer nonlinear optimization problems. cma-es/libcmaes — libcmaes is a multithreaded C++11 library with Python bindings for high performance blackbox stochastic optimization… coin-or/ipopt — COIN-OR Interior Point Optimizer IPOPT. casadi/casadi — CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse… borglab/gtsam — GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor…