Users — Ceres Solver

# Users

- At Google, Ceres is used to:

  - Estimate the pose of Street View cars, aircrafts, and satellites.

  - Build 3D models for PhotoTours.

  - Estimate satellite image sensor characteristics.

  - Stitch panoramas on Android and iOS.

  - Apply Lens Blur on Android.

  - Solve bundle adjustment and SLAM problems in Project Tango.

- Willow Garage uses Ceres to solve SLAM problems.

- Southwest Research Institute uses Ceres for calibrating robot-camera systems.

- Blender uses Ceres for planar tracking and bundle adjustment.

- OpenMVG an open source multi-view geometry library uses Ceres for bundle adjustment.

- Microsoft Research uses Ceres for nonlinear optimization of objectives involving subdivision surfaces under skinned control meshes.

- Matterport, uses Ceres for global alignment of 3D point clouds and for pose graph optimization.

- Obvious Engineering uses Ceres for bundle adjustment for their 3D photography app Seene.

- The Autonomous Systems Lab at ETH Zurich uses Ceres for

  - Camera and Camera/IMU Calibration.

  - Large scale optimization of visual, inertial, gps and wheel-odometry data for long term autonomy.

- OpenPTrack uses Ceres for camera calibration.

- The Intelligent Autonomous System Lab at University of Padova, Italy, uses Ceres for

  - Camera/depth sensors network calibration.

  - Depth sensor distortion map estimation.

- Theia is an open source Structure from Motion library that uses Ceres for bundle adjustment and camera pose estimation.

- The Applied Research Laboratory at Pennsylvania State University uses in their synthetic aperture Sonar beamforming engine, called ASASIN , for estimating platform kinematics.

- Colmap is an open source structure from motion library that makes heavy use of Ceres for bundle adjustment with support for many camera models and for other non-linear least-squares problems (relative, absolute pose refinement, etc.).