How do I use fsolve to optimize SLAM given information matrix and information vector?

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BEN AYAWLI
BEN AYAWLI 2018-12-3
评论： Walter Roberson 2018-12-3
I know fsolve function in matlab is used for nonlinear function optimization and the syntax is given as:
x=fsolve(fun,xo,option)
Please, how would I apply this function to optimize a pose SLAM given the information matrix H and the information vector b. Where H = n by n matrix and b=n by 1 vector?
Thanks

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