[AMR] Notes in various sections

electives/amr/parts/03_multi-sensor-estimation/01_least-squares.tex

@@ -1,6 +1,8 @@
 \subsection{Linear Least Squares}
 \bi{Goal}: $\argmin{x \in \R^n} ||\mat{A}\vec{x} - b||^2_2$, $\mat{A}$: rows $i$-th datap. col $c$: $t_i^{c - 1}$.
 
+Alt: compute sum of squared errors $S$, then min. $S$, i.e. solve system $\pardiff{\alpha}S = 0$, $\pardiff{r} S = 0$ for $\{ \alpha, r \}$ the params
+
 \bi{Man. sol.}: comp. $M = A^\top A$, $b' = A^\top b$, then $Mx = b'$.
 
 \bi{Prob. sol.}: $\text{argmax} \; \P(\vec{x} \divider \vec{z})$ with Maximum \dots