What is the cost of adding a constraint in linear least squares?

Although the theory of constrained least squares (CLS) estimation is well known, it is usually applied with the view that the constraints to be imposed are unavoidable. However, there are cases in which constraints are optional. For example, in camera color calibration, one of several possible color processing systems is obtained if a constraint on the row sums of a desired color correction matrix is imposed; in this example, it is not clear a priori whether imposing the constraint leads to better system performance. In this paper, we derive an exact expression connecting the constraint to the increase in fitting error obtained from imposing it. As another contribution, we show how to determine projection matrices that separate the measured data into two components: the first component drives up the fitting error due to imposing a constraint, and the second component is unaffected by the constraint. We demonstrate the use of these results in the color calibration problem.

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