A micro Lie theory for state estimation in robotics

Author: Joan Solà

Year: 2020

Notes:

SO(3), SE(3)... are Lie groups and smooth manifolds
exp, log form Lie algebra to Lie group
Exp : R^n -> M, Log(M) -> R^n ie map directly to the vector space
hat and vee map from Lie algebra to cartesian space
Right jacobian is obtained with J_r = f(X⊕tau)-f(X)/tau
Left jacobian is obtained with J_l = f(tau⊕X)-f(X)/tau

Commentaire:

Ouvrage cultissime sur les algèbres de Lie