1 基础
三维旋转构成了特殊正交群
S
O
(
3
)
\ SO(3)
SO(3),三维刚体变换构成了特殊欧氏群
S
E
(
3
)
\ SE(3)
SE(3),如下所示:
S
O
(
3
)
=
{
R
∈
R
3
∗
3
∣
R
R
T
=
I
,
d
e
t
(
R
)
=
1
}
S
E
(
3
)
=
{
T
=
[
R
t
0
T
1
]
∈
R
4
∗
4
∣
R
∈
S
O
(
3
)
,
t
∈
R
3
}
SO(3) = \left\{ R \in \mathbb{R}^{3*3} | RR^T=I, det(R)=1 \right\}\\ SE(3) = \left\{ T = \begin{bmatrix} R & t \\ 0^T & 1 \end{bmatrix} \in \mathbb{R}^{4*4} | R \in SO(3), t \in \mathbb{R}^3 \right\}
SO(3)={R∈R3∗3∣RRT=I,det(R)=1}SE(3)={T=[R0Tt1]∈R4∗4∣R∈SO(3),t∈R3}
1.1 李群
群是一种几何加上一种运算的代数结构,集合A,运算
⊗
\ \otimes
⊗,那么群可以记作
G
=
(
A
,
⊗
)
\ G=(A, \otimes)
G=(A,⊗),同时满足"封结幺逆"四则性质。
∀
a
1
,
a
2
∈
A
,
a
1
⊗
a
2
∈
A
∀
a
1
,
a
2
,
a
3
∈
A
,
(
a
1
⊗
a
2
)
⊗
a
3
=
a
1
⊗
(
a
2
⊗
a
3
)
∃
a
0
∈
A
,
s
.
t
.
∀
a
∈
A
,
a
0
⊗
a
=
a
⊗
a
0
=
a
∀
a
∈
A
,
∃
a
−
1
∈
A
,
s
.
t
.
a
⊗
a
−
1
=
a
0
\forall a_1,a_2 \in A, a_1 \otimes a_2 \in A \\ \forall a_1,a_2,a_3 \in A, (a_1 \otimes a_2) \otimes a_3 = a_1 \otimes (a_2 \otimes a_3) \\ \exist a_0 \in A, s.t. \forall a\in A, a_0 \otimes a = a \otimes a_0 = a \\ \forall a \in A, \exist a^{-1}\in A, s.t. a \otimes a^{-1} = a_0
∀a1,a2∈A,a1⊗a2∈A∀a1,a2,a3∈A,(a1⊗a2)⊗a3=a1⊗(a2⊗a3)∃a0∈A,s.t.∀a∈A,a0⊗a=a⊗a0=a∀a∈A,∃a−1∈A,s.t.a⊗a−1=a0
李群是指具有连续光滑性质的群,像整数集合
Z
\ \mathbb{Z}
Z这样离散群就没有连续性质,所以不是李群。
1.2 李代数来源
李代数的引出,推导如下:
R
(
t
)
R
(
t
)
T
=
I
R
(
t
)
˙
R
(
t
)
T
+
R
(
t
)
R
(
t
)
T
˙
=
0
R
(
t
)
˙
R
(
t
)
T
=
−
(
R
(
t
)
R
(
t
)
T
˙
)
=
−
(
R
(
t
)
˙
R
(
t
)
T
)
T
R(t)R(t)^T=I \\ \dot{R(t)}R(t)^T + R(t)\dot{R(t)^{T}} = 0 \\ \dot{R(t)}R(t)^T = -(R(t)\dot{R(t)^{T}}) = -(\dot{R(t)}R(t)^{T})^T \\
R(t)R(t)T=IR(t)˙R(t)T+R(t)R(t)T˙=0R(t)˙R(t)T=−(R(t)R(t)T˙)=−(R(t)˙R(t)T)T
由反对称矩阵的性质可得:
R
(
t
)
˙
R
(
t
)
T
=
ϕ
(
t
)
∧
R
(
t
)
˙
=
ϕ
(
t
)
∧
R
(
t
)
\dot{R(t)}R(t)^T = \phi(t)^{\land} \\ \dot{R(t)} = \phi(t)^{\land} R(t)
R(t)˙R(t)T=ϕ(t)∧R(t)˙=ϕ(t)∧R(t)
对旋转矩阵进行一阶泰勒展开得:
R
(
t
)
=
R
(
t
0
)
+
R
(
t
0
)
˙
(
t
−
t
0
)
R(t) = R(t_0) + \dot{R(t_0)}(t-t_0) \\
R(t)=R(t0)+R(t0)˙(t−t0)
设初始时刻没有发生旋转,即旋转矩阵为单位矩阵,同时可见
ϕ
\ \phi
ϕ 对于R
的导数性质,故称它在李群原点附近的正切空间上:
R
(
t
)
=
I
+
ϕ
(
t
)
∧
I
∗
(
t
−
0
)
=
I
+
ϕ
(
t
)
∧
∗
t
R(t) = I + \phi(t)^{\land} I * (t-0) \\ = I + \phi(t)^{\land} * t
R(t)=I+ϕ(t)∧I∗(t−0)=I+ϕ(t)∧∗t
假设
ϕ
(
t
0
)
=
ϕ
0
\ \phi(t_0)=\phi_0
ϕ(t0)=ϕ0,有:
R
(
t
)
˙
=
ϕ
0
∧
R
(
t
)
R
(
0
)
=
I
\dot{R(t)}=\phi_0^{\land} R(t) \\ R(0) = I
R(t)˙=ϕ0∧R(t)R(0)=I
根据一阶线性微分方程求解,可解微分方程得到:
y
˙
+
P
(
x
)
y
=
Q
(
x
)
y
=
e
−
∫
P
(
x
)
d
x
[
∫
Q
(
x
)
e
∫
P
(
x
)
d
x
d
x
+
C
]
R
(
t
)
=
e
ϕ
0
∧
t
\dot{y} + P(x)y=Q(x) \\ y = e^{-\int{P(x)dx}}[\int{Q(x)e^{\int{P(x)dx}}dx} + C] \\ R(t) = e^{\phi_0^{\land} t}
y˙+P(x)y=Q(x)y=e−∫P(x)dx[∫Q(x)e∫P(x)dxdx+C]R(t)=eϕ0∧t
1.3 李代数
每个李群都有与之对应的李代数,李代数描述了李群的局部性质,即单位元附近的正切空间。李代数由一个集合
V
\ \mathbb{V}
V、一个数域
F
\ \mathbb{F}
F和一个二元运算符
[
,
]
\ [,]
[,],统称
g
(
V
,
F
,
[
,
]
)
\ g(\mathbb{V}, \mathbb{F},[,])
g(V,F,[,]),且满足以下性质:
∀
X
,
Y
∈
V
,
[
X
,
Y
]
∈
V
∀
X
,
Y
,
Z
∈
V
,
a
,
b
∈
F
,
[
a
X
+
b
Y
,
Z
]
=
a
[
X
,
Z
]
+
b
[
Y
,
Z
]
,
[
Z
,
a
X
+
b
Y
]
=
a
[
Z
,
X
]
+
b
[
Z
,
Y
]
∀
X
∈
V
,
[
X
,
X
]
=
0
∀
X
,
Y
,
Z
∈
V
,
[
X
,
[
Y
,
Z
]
]
+
[
Z
,
[
X
,
Y
]
]
+
[
Y
,
[
Z
,
X
]
]
=
0
\forall X,Y \in \mathbb{V}, [X, Y] \in \mathbb{V} \\ \forall X,Y,Z \in \mathbb{V}, a,b \in \mathbb{F}, [aX+bY,Z]=a[X,Z]+b[Y,Z], [Z, aX+bY]=a[Z,X]+b[Z,Y] \\ \forall X \in \mathbb{V}, [X,X]=0\\ \forall X,Y,Z \in \mathbb{V},[X,[Y,Z]]+[Z,[X,Y]]+[Y,[Z,X]]=0
∀X,Y∈V,[X,Y]∈V∀X,Y,Z∈V,a,b∈F,[aX+bY,Z]=a[X,Z]+b[Y,Z],[Z,aX+bY]=a[Z,X]+b[Z,Y]∀X∈V,[X,X]=0∀X,Y,Z∈V,[X,[Y,Z]]+[Z,[X,Y]]+[Y,[Z,X]]=0
其中的二元运算称为李括号。三维向量
R
3
\ \mathbb{R}^3
R3上定义的叉积
∧
\ ^{\land}
∧就是一种李括号,因此
g
=
(
R
3
,
R
,
∧
)
\ g=(\mathbb{R}^3, \mathbb{R}, ^{\land})
g=(R3,R,∧)构成了一种李代数。
对李代数
s
o
(
3
)
\ so(3)
so(3)而言,定义如下:
s
o
(
3
)
=
{
ϕ
∈
R
3
,
Φ
=
ϕ
∧
∈
R
3
∗
3
}
Φ
=
ϕ
∧
=
[
0
−
ϕ
3
ϕ
2
ϕ
3
0
−
ϕ
1
−
ϕ
2
ϕ
1
0
]
∈
R
3
∗
3
so(3) = \left\{ \phi \in \mathbb{R}^{3}, \Phi = \phi^{\land} \in \mathbb{R}^{3*3} \right\} \\ \Phi = \phi^{\land} = \begin{bmatrix} 0 & -\phi_3 & \phi_2 \\ \phi_3 & 0 & -\phi_1 \\ -\phi_2 & \phi_1 & 0 \end{bmatrix} \in \mathbb{R}^{3*3}
so(3)={ϕ∈R3,Φ=ϕ∧∈R3∗3}Φ=ϕ∧=
0ϕ3−ϕ2−ϕ30ϕ1ϕ2−ϕ10
∈R3∗3
两个向量的李括号计算为:
[
ϕ
1
,
ϕ
2
]
=
(
Φ
1
Φ
2
−
Φ
2
Φ
1
)
∨
[\phi_1, \phi_2] = (\Phi_1\Phi_2-\Phi_2\Phi_1)^{\lor}
[ϕ1,ϕ2]=(Φ1Φ2−Φ2Φ1)∨
对于李代数
s
e
(
3
)
\ se(3)
se(3)而言,定义如下:
s
e
(
3
)
=
{
ϵ
=
[
ρ
ϕ
]
∈
R
6
,
ρ
∈
R
3
,
ϕ
∈
s
o
(
3
)
,
ϵ
∧
=
[
ϕ
∧
ρ
0
T
0
]
∈
R
4
∗
4
}
se(3)= \left\{ \epsilon=\begin{bmatrix} \rho \\ \phi \end{bmatrix} \in \mathbb{R}^{6}, \rho \in \mathbb{R}^{3}, \phi \in so(3), \epsilon^{\land} = \begin{bmatrix} \phi^{\land} & \rho \\ 0^T & 0 \end{bmatrix} \in \mathbb{R}^{4*4} \right\}
se(3)={ϵ=[ρϕ]∈R6,ρ∈R3,ϕ∈so(3),ϵ∧=[ϕ∧0Tρ0]∈R4∗4}
对应的李括号与
s
o
(
3
)
\ so(3)
so(3)相似,
[
ϵ
1
,
ϵ
2
]
=
(
ϵ
1
∧
ϵ
2
∧
−
ϵ
2
∧
ϵ
1
∧
)
∨
[\epsilon_1, \epsilon_2] = (\epsilon_1^{\land}\epsilon_2^{\land}-\epsilon_2^{\land}\epsilon_1^{\land})^{\lor}
[ϵ1,ϵ2]=(ϵ1∧ϵ2∧−ϵ2∧ϵ1∧)∨