http://www.seas.upenn.edu/~cjtaylor/PUBLICATIONS/pdfs/TaylorTR94b.pdf
for se(3)
https://pixhawk.org/_media/dev/know-how/jlblanco2010geometry3d_techrep.pdf
http://www.seas.upenn.edu/~cjtaylor/PUBLICATIONS/pdfs/TaylorTR94b.pdf
for se(3)
https://pixhawk.org/_media/dev/know-how/jlblanco2010geometry3d_techrep.pdf