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Ethan Eade Ethan Eade Documents Lie groups for Computer Vision (reference): [ PDF ] (updated 2014-12-25) Lie groups for 2D and 3D Transformations (more detail and derivations): [ PDF ] (minor update 2018-10-07) Derivative of the Exponential Map (with some closed-form results): [ PDF ] (updated on 2018-11-12) Hermite Splines in Lie Groups as Products of Geodesics: [ PDF ] (updated 2017-01-07) Gauss-Newton Optimization: [ PDF ] Rotation between two 3-vectors: [ PDF ] Process Noise for Gaussian Random Walks: [ PDF ] Very basic SO(3) exp/log calculator External documents This technical report by Solà, Deray, and Atchuthan is a great self-contained exposition of Lie theory for robotics applications. Tom Drummond's notes offer an extended treatment of many of the above topics with excellent motivating diagrams. Various Code Lie Groups (Standalone C++ Lie groups implementations) ECV (C++ computer vision prototyping) LATL (Linear Algebra Template Li...
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