Non-Linear Triangulation
[Nonlinear Programming](https://texonom.com/nonlinear-programming-569f6a22fd0346a0b9ac114e849aef7d) 


### Find X that minimizes
특징점 찾고 two-view에서 $x_1, x_2$ 각 계산
Optimization하는 방식
![](https://www.notion.so/image/https%3A%2F%2Fs3-us-west-2.amazonaws.com%2Fsecure.notion-static.com%2F70324ca2-7ff1-4214-910d-b4c90eac5dcf%2FUntitled.png?table=block&id=d3687d20-f8f8-47dd-add6-304294242ea3&cache=v2)







