Introduction

• Lie Group Vs Lie Algebra
  • Lie Group
    • Lie group that is a differentiable manifold
  • Lie Algebra
    • The only tangent space for the Lie Group
    • Vector space that satisfies the lie bracket
• The relationship between Lie Group and Lie algebra for SO(3) and SE(3)

Backer-Campbell-Hausdorff

Derivative of Lie Algebra

Perturbation model (left Jacobian)

Lie Algebra in SE(3)

Pseudo-transformers and Lie algebra

• 섭동 모델 Jacobian을 이용하여 최적화

Reference

SLAM KR