说在前面
水水水
名群的
- 群是一种集合加上一种运算的代数结构。
- 性质:
- 封闭性:
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这里的 · 表示一种运算符,并不是点乘 - 结合律: ∀ a 1 , a 2 , a 3 ∈ A , ( a 1 ⋅ a 2 ) ⋅ a 3 = a 1 ⋅ ( a 2 ⋅ a 3 ) ∀a_1,a_2,a_3 ∈ A, (a_1 ·a_2)·a_3 = a_1 ·(a_2 ·a_3) ∀a1,a2,a3∈A,(a1⋅a2)⋅a3=a1⋅(a2⋅a3)
- 幺元:
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∃a0∈A,s.t.∀a∈A,a0⋅a=a⋅a0=a
举个栗子,在实数加法中, a 0 = 0 a_0=0 a0=0 - 逆: ∀ a ∈ A , ∃ a − 1 ∈ A , s . t . a ⋅ a − 1 = a 0 ∀a ∈ A, ∃a^{−1} ∈ A, s.t. a·a^{−1} = a_0 ∀a∈A,∃a−1∈A,s.t.a⋅a−1=a0
- 封闭性:
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∀a1,a2∈A,a1⋅a2∈A
姓李的
- 李群是指具有连续(光滑)性质的群。
李群代交数学
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引入
对于旋转矩阵R,满足 R R T = I RR^T=I RRT=I,将R看为时间的函数R(t),则:
R ( t ) ⋅ R ( t ) T = I R(t)\cdot R(t)^T=I R(t)⋅R(t)T=I
两边同时求导:
R ( t ) ′ ⋅ R ( t ) T + R ( t ) ⋅ ( R ( t ) T ) ′ = 0 ⇓ R = ( R T ) T R ( t ) ′ ⋅ R ( t ) T + ( R ( t ) T ⋅ R ( t ) ′ ) T = 0 ⇓ g e t R ( t ) ′ ⋅ R ( t ) T = − ( R ( t ) ′ ⋅ R ( t ) T ) T R(t)'\cdot R(t)^T + R(t)\cdot (R(t)^T)' = 0\\ \Downarrow R=(R^T)^T \\ R(t)'\cdot R(t)^T + (R(t)^T\cdot R(t)')^T = 0\\ \Downarrow get \\ R(t)'\cdot R(t)^T = -(R(t)'\cdot R(t)^T)^T R(t)′⋅R(t)T+R(t)⋅(R(t)T)′=0⇓R=(RT)TR(t)′⋅R(t)T+(R(t)T⋅R(t)′)T=0⇓getR(t)′⋅R(t)T=−(R(t)′⋅R(t)T)T
因此, R ( t ) ′ ⋅ R ( t ) T R(t)'\cdot R(t)^T R(t)′⋅R(t)T是一个反对称矩阵。
(主对角线为0,其余反对称
S = [ x 11 x 12 x 13 x 21 x 22 x 23 x 31 x 32 x 33 ] = [ − x 11 − x 21 − x 31 − x 12 − x 22 − x 32 − x 13 − x 23 − x 33 ] = − S T S= \left[ \begin{matrix} x_{11} & x_{12} & x_{13} \\ x_{21} & x_{22} & x_{23} \\ x_{31} & x_{32} & x_{33} \\ \end{matrix} \right] =\left[ \begin{matrix} -x_{11} & -x_{21} & -x_{31} \\ -x_{12} & -x_{22} & -x_{32} \\ -x_{13} & -x_{23} & -x_{33} \\ \end{matrix} \right]= -S^T S=⎣⎡x11x21x31x12x22x32x13x23x33⎦⎤=⎣⎡−x11−x12−x13−x21−x22−x23−x31−x32−x33⎦⎤=−ST)
之前有提到^表示一个三维向量的反对称矩阵化过程,即 a ⃗ ˄ = A \vec a^{˄} = A a˄=A(A为反对称矩阵),现在我们定义 A ˅ = a ⃗ A^{˅}=\vec a A˅=a,那么:
R ( t ) ′ ⋅ R ( t ) T = ϕ ( t ) ˄ ⇓ r i g h t ⋅ R ( t ) R ( t ) ′ = ϕ ( t ) ˄ ⋅ R ( t ) = [ 0 − ϕ 3 ϕ 2 ϕ 3 0 − ϕ 1 − ϕ 2 ϕ 1 0 ] ⋅ R ( t ) R(t)'\cdot R(t)^T=\phi(t)^˄ \\ \Downarrow right \cdot R(t) \\ R(t)' = \phi(t)^˄\cdot R(t)= \left[ \begin{matrix} 0 & -\phi_3 & \phi_2 \\ \phi_3 & 0 & -\phi_1 \\ -\phi_2 & \phi_1 & 0 \\ \end{matrix} \right]\cdot R(t) R(t)′⋅R(t)T=ϕ(t)˄⇓right⋅R(t)R(t)′=ϕ(t)˄⋅R(t)=⎣⎡0ϕ3−ϕ2−ϕ30ϕ1ϕ2−ϕ10⎦⎤⋅R(t)
在 t 0 t_0 t0 附近,设 ϕ ϕ ϕ 保持为常数 ϕ ( t 0 ) = ϕ 0 ϕ(t_0) = ϕ_0 ϕ(t0)=ϕ0。那么有
R ( t ) ′ = ϕ ( t 0 ) ∧ R ( t ) = ϕ 0 ∧ R ( t ) R(t)' = ϕ(t_0)^∧R(t) = ϕ_0^∧R(t) R(t)′=ϕ(t0)∧R(t)=ϕ0∧R(t)
上式是一个关于 R 的微分方程,而且我们知道初始值 R ( 0 ) = I R(0) = I R(0)=I,解之,得:
R ( t ) = e x p ( ϕ 0 ∧ t ) R(t) = exp(ϕ_0^∧t) R(t)=exp(ϕ0∧t) -
定义
由集合+数域+二元运算组成,且满足:
- 封闭性
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这个好理解,就像群一样 - 双线性
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∀X,Y,Z∈V,a,b∈F, 有:
[ a X + b Y , Z ] = a [ X , Z ] + b [ Y , Z ] , [ Z , a X + b Y ] = a [ Z , X ] + b [ Z , Y ] [aX + bY ,Z] = a[X,Z] + b[Y ,Z], [Z,aX + bY ] = a[Z,X] + b[Z,Y ] [aX+bY,Z]=a[X,Z]+b[Y,Z],[Z,aX+bY]=a[Z,X]+b[Z,Y]
这个也好理解,就像分解律一样 - 自反性 ¬ ∀ X ∈ V , [ X , X ] = 0 ¬ ∀X ∈V,[X,X] = 0 ¬∀X∈V,[X,X]=0
- 雅可比等价
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∀X,Y ,Z ∈V,[X,[Y ,Z]] + [Z,[Y ,X]] + [Y ,[Z,X]] = 0
∀X,Y,Z∈V,[X,[Y,Z]]+[Z,[Y,X]]+[Y,[Z,X]]=0
这个怎么理解,,,
- 封闭性
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so(3)
- 定义
s o ( 3 ) = { ϕ ∈ R 3 , Φ = ϕ ∧ ∈ R 3 × 3 } so(3) =\{\phi ∈R^3,\Phi = ϕ^∧ ∈R^{3×3}\} so(3)={ϕ∈R3,Φ=ϕ∧∈R3×3}
其中:
Φ = ϕ ∧ = [ 0 − ϕ 3 ϕ 2 ϕ 3 0 − ϕ 1 − ϕ 2 ϕ 1 0 ] \Phi = \phi^∧ = \left[ \begin{matrix} 0 & -\phi_3 & \phi_2 \\ \phi_3 & 0 & -\phi_1 \\ -\phi_2 & \phi_1 & 0 \\ \end{matrix}\right] Φ=ϕ∧=⎣⎡0ϕ3−ϕ2−ϕ30ϕ1ϕ2−ϕ10⎦⎤
二元运算为:
[ ϕ 1 , ϕ 2 ] = ( Φ 1 Φ 2 − Φ 2 Φ 1 ) ∨ [\phi_1,\phi_2] = (\Phi_1\Phi_2 −\Phi_2\Phi_1)^∨ [ϕ1,ϕ2]=(Φ1Φ2−Φ2Φ1)∨
指数映射为:
R = e x p ( ϕ ∧ ) R = exp(\phi^∧) R=exp(ϕ∧) - 映射
在收敛的情况下进行泰勒展开:
e x p ( ϕ ∧ ) = ∑ n = 0 ∞ 1 n ! ( ϕ ∧ ) n exp(\phi^∧)=\sum_{n=0}^\infty\frac{1}{n!}(\phi^∧)^n exp(ϕ∧)=n=0∑∞n!1(ϕ∧)n
由于 ϕ \phi ϕ为一个三维向量,可以用 ϕ = θ a ⃗ \phi=\theta \vec a ϕ=θa( θ \theta θ为大小, a ⃗ \vec a a为单位向量)
(
下面俩的证明可以令:
a = [ a 1 a 2 a 3 ] a=\left[\begin{matrix}a_1\\a_2\\a_3\end{matrix}\right] a=⎣⎡a1a2a3⎦⎤
比较容易证明
a ∧ a ∧ = a a T − I a^∧a^∧=aa^T-I a∧a∧=aaT−I
a ∧ a ∧ a ∧ = − a ∧ a^∧a^∧a^∧=-a^∧ a∧a∧a∧=−a∧
)
那么(矩阵的零次方为单位阵):
e x p ( ϕ ∧ ) = e x p ( θ a ∧ ) = ∑ n = 0 ∞ 1 n ! ( θ a ∧ ) n = I + θ a ∧ + 1 2 ! θ 2 a ∧ a ∧ + 1 3 ! θ 3 a ∧ a ∧ a ∧ + 1 4 ! θ 4 ( a ∧ ) 4 + . . . = a a T − a ∧ a ∧ + θ a ∧ + 1 2 ! θ 2 a ∧ a ∧ − 1 3 ! θ 3 a ∧ − 1 4 ! θ 4 ( a ∧ ) 2 + . . . = a a T + ( θ − 1 3 ! θ 3 + 1 5 ! θ 5 − . . . ) a ∧ − ( 1 − 1 2 ! θ 2 + 1 4 ! θ 4 − . . . ) a ∧ a ∧ = a ∧ a ∧ + I + s i n θ a ∧ − c o s θ a ∧ a ∧ = ( 1 − c o s θ ) a ∧ a ∧ + I + s i n θ a ∧ = c o s θ I + ( 1 − c o s θ ) a a T + s i n θ a ∧ \begin{aligned} exp(ϕ^∧) = exp(θa^∧) &=∑_{n=0}^\infty\frac{1}{ n!}(θa^∧)^n \\ &= I + θa^∧ + \frac{1}{2!}θ^2a^∧a^∧ + \frac{1}{3!}θ^3a^∧a^∧a^∧ + \frac{1}{4!}θ^4(a^∧)^4 + ...\\ &= aa^T −a^∧a^∧ + θa^∧ + \frac{1}{2!}θ^2a^∧a^∧− \frac{1}{3!}θ^3a^∧− \frac{1}{4!}θ^4(a^∧)^2+...\\ &= aa^T +(θ− \frac{1}{ 3!}θ^3 + \frac{1 }{5!}θ^5 −...)a^∧−(1− \frac{1 }{2!}θ^2 + \frac{1 }{4!}θ^4−...)a^∧a^∧\\ &= a^∧a^∧ + I +sinθa^∧−cosθa^∧a^∧ \\ &= (1−cosθ)a^∧a^∧ + I +sinθa^∧\\ &= cosθI + (1−cosθ)aa^T +sinθa^∧ \end{aligned} exp(ϕ∧)=exp(θa∧)=n=0∑∞n!1(θa∧)n=I+θa∧+2!1θ2a∧a∧+3!1θ3a∧a∧a∧+4!1θ4(a∧)4+...=aaT−a∧a∧+θa∧+2!1θ2a∧a∧−3!1θ3a∧−4!1θ4(a∧)2+...=aaT+(θ−3!1θ3+5!1θ5−...)a∧−(1−2!1θ2+4!1θ4−...)a∧a∧=a∧a∧+I+sinθa∧−cosθa∧a∧=(1−cosθ)a∧a∧+I+sinθa∧=cosθI+(1−cosθ)aaT+sinθa∧
s i n θ = θ − 1 3 ! θ 3 + 1 5 ! θ 5 − . . . c o s θ = 1 − 1 2 ! θ 2 + 1 4 ! θ 4 − . . . sin\theta = θ− \frac{1}{ 3!}θ^3 + \frac{1 }{5!}θ^5 −...\\ cos\theta = 1− \frac{1 }{2!}θ^2 + \frac{1 }{4!}θ^4−... sinθ=θ−3!1θ3+5!1θ5−...cosθ=1−2!1θ2+4!1θ4−...
即:
e x p ( ϕ ∧ ) = c o s θ I + ( 1 − c o s θ ) a a T + s i n θ a ∧ exp(ϕ^∧)= cosθI + (1−cosθ)aa^T +sinθa^∧ exp(ϕ∧)=cosθI+(1−cosθ)aaT+sinθa∧
与罗德里格斯公式一样,这样我们就将旋转向量空间映射到指数空间。
- 定义
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se(3)
- 定义
s e ( 3 ) = { ξ = [ ρ ϕ ] ∈ R 6 , ρ ∈ R 3 , ϕ ∈ s o ( 3 ) , ξ ∨ = [ ϕ ∧ ρ 0 T 0 ] } se(3)=\left\{ \xi = \left[\begin{matrix}\rho \\ \phi \end{matrix}\right] \in R^6,\rho \in R^3,\phi \in so(3), \xi^∨=\left[\begin{matrix}\phi^∧ & \rho\\0^T & 0 \end{matrix}\right] \right\} se(3)={ξ=[ρϕ]∈R6,ρ∈R3,ϕ∈so(3),ξ∨=[ϕ∧0Tρ0]}
二元运算为:
[ ξ 1 , ξ 2 ] = ( ξ 1 ∧ ξ 2 ∧ − ξ 2 ∧ ξ 1 ∧ ) ∨ [ξ_ 1,ξ_2] = (ξ_1^∧ ξ_2^∧ −ξ_2^∧ ξ_1^∧ )^∨ [ξ1,ξ2]=(ξ1∧ξ2∧−ξ2∧ξ1∧)∨ - 映射
e x p ( ξ ∧ ) = [ ∑ n = 0 ∞ 1 n ! ( θ a ∧ ) n ∑ n = 0 ∞ 1 ( n + 1 ) ! ( θ a ∧ ) n ρ 0 T 1 ] = [ R J ρ 0 T 1 ] exp(\xi^∧)= \left[ \begin{matrix} ∑_{n=0}^\infty\frac{1}{ n!}(θa^∧)^n & ∑_{n=0}^\infty\frac{1}{(n+1)!}(θa^∧)^n\rho\\ 0^T & 1 \end{matrix} \right]=\left[ \begin{matrix} R & J\rho\\ 0^T & 1 \end{matrix} \right] exp(ξ∧)=[∑n=0∞n!1(θa∧)n0T∑n=0∞(n+1)!1(θa∧)nρ1]=[R0TJρ1]
其中:
J = s i n θ θ I + ( 1 − s i n θ θ ) a a T + 1 − c o s θ θ a ∧ J=\frac{sinθ}{θ}I +(1− \frac{sinθ}{ θ} )aa^T + 1−\frac{cosθ}{ θ}a^∧ J=θsinθI+(1−θsinθ)aaT+1−θcosθa∧
- 定义
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sim(3)-单目
- 定义
S i m ( 3 ) = { S = [ s R t 0 T 1 ] ∈ R 4 × 4 } Sim(3)=\left\{ S = \left[\begin{matrix}sR & t \\ 0^T & 1\end{matrix}\right] \in R^{4\times 4} \right\} Sim(3)={S=[sR0Tt1]∈R4×4}
s i m ( 3 ) = { ζ = [ ρ ϕ σ ] ∈ R 7 , ζ ∧ = [ σ I + ϕ ∧ ρ 0 T 0 ] } sim(3)=\left\{ \zeta = \left[\begin{matrix}\rho \\ \phi \\ \sigma\end{matrix}\right] \in R^{7},\zeta^∧= \left[\begin{matrix}\sigma I+\phi^∧ & \rho \\ 0^T & 0 \end{matrix}\right] \right\} sim(3)=⎩⎨⎧ζ=⎣⎡ρϕσ⎦⎤∈R7,ζ∧=[σI+ϕ∧0Tρ0]⎭⎬⎫ - 映射
e x p ( ζ ∧ ) = [ e σ e x p ( ϕ ∧ ) J s ρ 0 T 1 ] exp(\zeta^∧)=\left[ \begin{matrix} e^\sigma exp(\phi^∧) & J_s\rho\\ 0^T & 1 \end{matrix} \right] exp(ζ∧)=[eσexp(ϕ∧)0TJsρ1]
其中:
J s = e σ − 1 σ I + σ e σ s i n θ + ( 1 − e σ c o s θ ) θ σ 2 + θ 2 a ∧ + ( e σ − 1 σ − ( e σ c o s θ − 1 ) σ + ( e σ s i n θ ) θ σ 2 + θ 2 ) a ∧ a ∧ J_s =\frac{e^σ −1}{σ}I +\frac{σe^σ sinθ + (1−e^σ cosθ)θ}{ σ^2 + θ^2}a^∧ +(\frac{e^σ −1}{ σ} −\frac{ (e^σ cosθ−1)σ + (e^σ sinθ)θ}{ σ^2 + θ^2} )a^∧a^∧ Js=σeσ−1I+σ2+θ2σeσsinθ+(1−eσcosθ)θa∧+(σeσ−1−σ2+θ2(eσcosθ−1)σ+(eσsinθ)θ)a∧a∧
对应关系:
s = e σ , R = e x p ( ϕ ∧ ) , t = J s ρ s = e^σ, R = exp(ϕ^∧), t = J_sρ s=eσ,R=exp(ϕ∧),t=Jsρ
- 定义