《视觉SLAM十四讲》学习笔记-两个三维向量的李括号(即公式4.12)是李代数的验证

证明：

每个$\phi$生成的反对称矩阵记为$\Phi$:

$$\mathbf{\Phi}=\phi^\vee= \begin{bmatrix} 0 & -\phi_3 & \phi_2\\ \phi_3 & 0 & -\phi_1 \\ -\phi_2 & \phi_1 & 0 \end{bmatrix} \in \mathbb{R}^{3\times 3}$$
根据此定义，两个向量的李括号表示为：
$$[\Phi_1, \Phi_2] = (\mathbf{\Phi_1}\mathbf{\Phi_2}-\mathbf{\Phi_2}\mathbf{\Phi_1})^\vee$$
1) 封闭性：
根据定义展开式子：
$\forall \Phi_1, \Phi_2 \in \mathbb{R}^3$,
$$\begin{aligned} [\Phi_1, \Phi_2] &= (\mathbf{\Phi_1}\mathbf{\Phi_2}-\mathbf{\Phi_2}\mathbf{\Phi_1})^\vee\\ &= \begin{bmatrix} 0 & \phi^1_2*\phi^2_1 - \phi^1_1*\phi^2_2 & \phi^1_3*\phi^2_1 - \phi^1_1*\phi^2_3 \\ \phi^1_1*\phi^2_2 - \phi^1_2*\phi^2_1 & 0 & \phi^1_3*\phi^2_2 - \phi^1_2*\phi^2_3 \\ \phi^1_1*\phi^2_3 - \phi^1_3*\phi^2_1 & \phi^1_2*\phi^2_3 - \phi^1_3*\phi^2_2 & 0 \end{bmatrix}^\vee \end{aligned}$$

记$\phi^1_1*\phi^2_2 - \phi^1_2*\phi^2_1=\bar{\phi}_3$, $\phi^1_3*\phi^2_1 - \phi^1_1*\phi^2_3 = \bar{\phi}_2$, $\phi^1_2*\phi^2_3 - \phi^1_3*\phi^2_2 = \bar{\phi}_1$
则上式变为：

$$[\Phi_1, \Phi_2] = [\bar{\phi}_1, \bar{\phi}_2, \bar{\phi}_3] \in \mathbb{R}^3$$

2)双线性：
$\forall \Phi_1, \Phi_2, \Phi_3 \in \mathbb{R}^3, a, b \in \mathbb{R}$,有：

$$\begin{aligned} [a\Phi_1 + b \Phi_2, \Phi_3]&= (a\mathbf{\Phi}_1 + b \mathbf{\Phi}_2)\mathbf{\Phi}_3 - \mathbf{\Phi}_3(a\mathbf{\Phi}_1 + b \mathbf{\Phi}_2)^\vee\\ &= (a\mathbf{\Phi}_1 \mathbf{\Phi}_3 + b\mathbf{\Phi}_2 \mathbf{\Phi}_3 - a\mathbf{\Phi}_3 \mathbf{\Phi}_1 - b \mathbf{\Phi}_3\mathbf{\Phi}_2 )^\vee\\ &= [a(\mathbf{\Phi}_1\mathbf{\Phi}_3-\mathbf{\Phi}_3\mathbf{\Phi}_1) + b(\mathbf{\Phi}_2\mathbf{\Phi}_3-\mathbf{\Phi}_3\mathbf{\Phi}_2) ]^\vee\\ &= a[\Phi_1, \Phi_3] + b[\Phi_2, \Phi_3] \end{aligned}$$

同理可证：$[\Phi_3, a\Phi_1 + b \Phi_2]=a[\Phi_3, \Phi_1] + b[\Phi_3, \Phi_2]$.

3)自反性：
$\forall \Phi\in \mathbb{R}^3$,

$$[\Phi, \Phi] = [\mathbf{\Phi}\mathbf{\Phi} - \mathbf{\Phi}\mathbf{\Phi}]^\vee = \mathbf{0}^\vee = \vec{0}$$

4) 雅可比等价：代入展开即可证明。

通过以上4个定义的式子后即可得到结论。