Extension of Newton–Raphson method for nonlinear
Least Squares is a method that assumes linearization to minimize error
For non-linear models, one of the methods used is the Gauss-Newton Method
Newton's method
In numerical analysis, Newton's method, also known as the Newton–Raphson method, named after Isaac Newton and Joseph Raphson, is a root-finding algorithm which produces successively better approximations to the roots (or zeroes) of a real-valued function. The most basic version starts with a single-variable function f defined for a real variable x, the function's derivative f′, and an initial guess x0 for a root of f. If the function satisfies sufficient assumptions and the initial guess is close, then
https://en.wikipedia.org/wiki/Newton's_method
taeyoung96.github.io
https://taeyoung96.github.io/slam/SLAM_02/

Seonglae Cho