To solve the problem of relative camera pose estimation. a method using optimization with respect to the manifold is proposed. Firstly from maximum-a-posteriori (MAP) model to nonlinear least squares (NLS) model. the general state estimation model using optimization is derived. https://www.bekindtopets.com/save-now-Aqua-Pure-3MFF101-Full-Flow-Drinking-Water-System-Replacement-Cartridge-flash-choice/