一些在SLAM中经常用到的关于李群李代数方面的知识
Special Orthogonal Group SO(3) S O ( 3 ) and so(3) s o ( 3 )
The group SO(3) S O ( 3 ) forms a smooth manifold, and its tangent space (at the identity) denoted as so(3) s o ( 3 ) .
where
- SO(3) S O ( 3 ) : Rotation Matrix R R
- : Angle-Axis ϕ=θa ϕ = θ a
- Connection: Rodrigues’s Formula
Exp Map
so(3)→SO(3)
s
o
(
3
)
→
S
O
(
3
)
Introduce
Exp(ϕ)=exp(ϕ∧)
E
x
p
(
ϕ
)
=
exp
(
ϕ
∧
)
, then the abode equation can written as:
Log Map
SO(3)→so(3)
S
O
(
3
)
→
s
o
(
3
)
BCH Formula
where
Property
Special Euclidean Group SE(3) S E ( 3 ) and se(3) s e ( 3 )
- SE(3) S E ( 3 ) : Pose (Rotation R R + Translation p p ), Matrix
- se(3) s e ( 3 ) : Angle Axis ϕ ϕ + Translation ρ ρ , Vector
Property
Gaussian Random Variables
where R R and p p is the noise-free rotation and translation respectively, and Δϕ Δ ϕ and Δp Δ p is the perturbations (Gaussian white noise)