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eth-summaries/electives/others/amr/parts/03_multi-sensor-estimation/02_nonlinear-least-squares.tex
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\subsection{Non-Linear Least Squares}
Find $\vec{x}^* = \text{argmax} p(\vec{x} | \vec{z}) = \argmin{}(-\log(p(\vec{x}|\vec{z})))$
\bi{Gauss-Newton}
\bi{Levenberg-Marquardt}