A color characterization process utilizing nonlinear regression analysis to characterize a color input device. The color input device is used to generate a bitmap of device dependent values from a color target. The bitmap of device dependent color values is used to generate a forward model that maps device dependent color values to color values in a device independent color space using a nonlinear regression analysis that minimizes a color difference metric between the reference color values and the set of device dependent color values mapped through the forward model. The color difference metric is chosen to represent human perceived color differences in the device independent color space. The performance of the nonlinear regression analysis may be improved by initializing the nonlinear regression analysis using an initial forward model generated from a linear regression analysis.