The plus operator
设 M \mathcal{M} M表示一个n维的流型,因为流型局部同胚于 R n \mathbb{R}^n Rn,所以我们可以通过定义符号 ⊞ \boxplus ⊞和 ⊟ \boxminus ⊟建立一个流型 M \mathcal{M} M的局部邻域和其正切空间的双射。
⊞ : M × R n → M ; ⊟ : M × M n → R n \boxplus:\mathcal{M}\times \mathbb{R}^n\to \mathcal{M};\quad\boxminus:\mathcal{M}\times \mathbb{M}^n\to \mathbb{R}^n ⊞:M×Rn→M;⊟:M×Mn→Rn
对于流型 S O ( 3 ) SO(3) SO(3), ⊞ : S O ( 3 ) × R n → S O ( 3 ) \boxplus:SO(3)\times \mathbb{R}^n\to SO(3) ⊞:SO(3)×Rn→SO(3)生成一个 S O ( 3 ) SO(3) SO(3)中的元素,其结果是参考元素 R ∈ S O ( 3 ) \bold{R}\in SO(3) R∈SO(3)和一个(通常很小的)旋转的组合。这个旋转由流型在参考元素 R \bold{R} R处的正切空间中的一个向量 θ ∈ R 3 \theta\in\mathbb{R}^3 θ∈R3指定。
M = S O ( 3 ) : R ⊞ θ = R E x p ( θ ) \mathcal{M}=SO(3):\bold{R}\boxplus\bm{\theta}=\bold{R}{\rm Exp}(\bm{\theta}) M=SO(3):R⊞θ=RExp(θ)
符号 ⊟ : S O ( 3 ) × S O ( 3 ) → R 3 \boxminus:SO(3)\times SO(3)\to \mathbb{R}^3 ⊟:SO(3)×SO(3)→R3是 ⊞ \boxplus ⊞符号的逆运算,它返回两个 S O ( 3 ) SO(3) SO(3)元素的角度差异向量 θ ∈ R 3 \bm{\theta}\in\mathbb{R}^3 θ∈R3,角度差异向量在参考元素 R \bold{R} R的正切空间中表示。
注意到这个符号可以定义于任意SO(3)的表示:
q ⊞ θ = q ⊗ E x p ( θ ) θ = q S ⊟ q R = L o g ( q R ∗ ⊗ q S ) \bold{q}\boxplus \bm{\theta}=\bold{q}\otimes{\rm Exp}(\bm{\theta})\\ \bm{\theta}=\bold{q}_S\boxminus\bold{q}_R={\rm Log}(\bold{q}^{\ast}_R\otimes \bold{q}_S) q⊞θ=q⊗Exp(θ)θ=qS⊟qR=Log(qR∗⊗qS)
在这两种情况下,请注意,即使向量差 θ \bm{\theta} θ通常被认为是很小的,上面的定义适用于 θ \bm{\theta} θ的任何值, ∥ θ ∥ \|\bm{\theta}\| ∥θ∥在 S O ( 3 ) SO(3) SO(3)流形的第一个覆盖范围,也就是说,对于角 θ < π \theta < \pi θ<π
四种可能的导数定义
Functions from vector space to vector space
给定一个函数 f : R m → R n f:\mathbb{R}^m\to\mathbb{R}^{n} f:Rm→Rn
∂ f ( x ) ∂ x = lim δ x → 0 f ( x + δ x ) − f ( x ) δ x ∈ R n × m f ( x + Δ x ) ≈ f ( x ) + ∂ f ( x ) ∂ x Δ x ∈ R n \dfrac{\partial f\left( \bold{x}\right) }{\partial \bold{x}}=\lim _{\delta \bold{x}\rightarrow 0}\dfrac{f\left( \bold{x}+\delta \bold{x}\right) -f\left( \bold{x}\right) }{\delta \bold{x}} \in\mathbb{R}^{n\times m} \\ f\left( \bold{x}+\Delta \bold{x}\right) \approx f\left( \bold{x}\right) +\dfrac{\partial f\left( \bold{x}\right) }{\partial \bold{x}}\Delta \bold{x}\in \mathbb{R}^n ∂x∂f(x)=δx→0limδxf(x+δx)−f(x)∈Rn×mf(x+Δx)≈f(x)+∂x∂f(x)Δx∈Rn
Functions from S O ( 3 ) SO(3) SO(3) to S O ( 3 ) SO(3) SO(3)
给定函数 f : S O ( 3 ) → S O ( 3 ) f:SO(3)\to SO(3) f:SO(3)→SO(3), R ∈ S O ( 3 ) \bold{R} \in SO(3) R∈SO(3)和一个局部的小角度变化 θ ∈ R 3 \bm{\theta}\in\mathbb{R}^3 θ∈R3,我们使用 { ⊞ , ⊟ } \{\boxplus,\boxminus\} {
⊞,⊟}定义导数:
∂ f ( R ) ∂ θ = lim δ θ → 0 f ( R ⊞ δ θ ) ⊟ f ( R ) δ θ = lim δ θ → 0 L o g ( f − 1 ( R ) f ( R E x p ( δ θ ) ) ) δ θ ∈ R 3 × 3 f ( R ⊞ Δ θ ) ≈ f ( R ) ⊞ ∂ f ( R ) ∂ θ Δ θ ≈ f ( R ) E x p ( ∂ f ( R ) ∂ θ Δ θ ) ∈ S O ( 3 ) \begin{aligned} \dfrac{\partial f\left( \bold{R}\right) }{\partial \bm{\theta} }&=\lim _{\delta \bm{\theta} \rightarrow 0}\dfrac{f\left( \bold{R}\boxplus \delta \bm{\theta} \right) \boxminus f\left( \bold{R}\right) }{\delta \bm{\theta} }\\ &=\lim _{\delta \bm{\theta} \rightarrow 0}\dfrac{
{\rm Log}\left( f^{-1}\left( \bold{R}\right) f\left( \bold{R} {\rm Exp}\left( \delta \bm{\theta} \right) \right) \right) }{\delta \bm{\theta} }\quad\in \mathbb{R}^{3\times3}\\ f\left( \bold{R}\boxplus \Delta \bm{\theta} \right) &\approx f\left( \bold{R}\right) \boxplus \dfrac{\partial f\left( \bold{R}\right) }{\partial \bm{\theta} }\Delta \bm{\theta} \approx f\left( \bold{R}\right) {\rm Exp}\left( \dfrac{\partial f\left( \bold{R} \right) }{\partial \bm{\theta} }\Delta \bm{\theta} \right) \quad\in SO(3) \end{aligned} ∂θ∂f(R)f(R⊞Δθ)=δθ→0limδθf(R⊞δθ)⊟f(R)=δθ→0limδθLog(f−1(R)f(RExp(δθ)))∈R3×3≈f(R)⊞∂θ∂f(R)Δθ≈f(R)Exp(∂θ∂f(R)Δθ)∈SO(3)
Functions from vector space to S O ( 3 ) SO(3) SO(3)
给定函数 f : R m → S O ( 3 ) f:\mathbb{R}^m\to SO(3) f:Rm→SO(3),用 ⊟ \boxminus ⊟进行 S O ( 3 ) SO(3) SO(3)差分,用-
进行向量差分。
∂ f ( x ) ∂ x = lim δ x → 0 f ( x + δ x ) ⊟ f ( x ) δ x = lim δ x → 0 L o g ( f − 1 ( x ) f ( x + δ x ) ) δ x ∈ R 3 × m f ( x + Δ x ) ≈ f ( x ) ⊞ ∂ f ( x ) ∂ x Δ x ≈ f ( x ) E x p ( ∂ f ( x ) ∂ x Δ x ) ∈ S O ( 3 ) \begin{aligned} \dfrac{\partial f\left( \bold{x}\right) }{\partial \bold{x}}&=\lim _{\delta \bold{x}\rightarrow 0}\dfrac{f\left( \bold{x}+\delta \bold{x}\right) \boxminus f\left( \bold{x}\right) }{\delta \bold{x}}\\ &=\lim _{\delta \bold{x}\rightarrow 0}\dfrac{
{\rm Log}\left( f^{-1}\left( \bold{x}\right) f\left( \bold{x}+\delta \bold{x}\right) \right) }{\delta \bold{x}}\quad\in\mathbb{R}^{3\times m}\\ f\left( \bold{x}+\Delta \bold{x}\right) &\approx f\left( \bold{x}\right) \boxplus \dfrac{\partial f\left( \bold{x}\right) }{\partial \bold{x}}\Delta \bold{x}\approx f\left( \bold{x}\right) {\rm Exp}\left( \dfrac{\partial f\left( \bold{x}\right) }{\partial \bold{x}}\Delta \bold{x}\right) \quad \in SO(3) \end{aligned} ∂x∂f(x)f(x+Δx)=δx→0limδxf(x+δx)⊟f(x)=δx→0limδxLog(f−1(x)f(x+δx))∈R3×m≈f(x)⊞∂x∂f(x)Δx≈f(x)Exp(∂x∂f(x)Δx)∈SO(3)
Functions from S O ( 3 ) SO(3) SO(3) to vector space
对于函数 f : S O ( 3 ) → R n f:SO(3)\to \mathbb{R}^{n} f:SO(3)→Rn,用 ⊞ \boxplus ⊞进行 S O ( 3 ) SO(3) SO(3)组合,用-
进行向量差分。
∂ f ( R ) ∂ θ = lim δ θ → 0 f ( R ⊞ δ θ ) − f ( R ) δ θ = lim δ θ → 0 f ( R E x p ( δ θ ) ) − f ( R ) δ θ ∈ R n × 3 f ( R ⊞ δ θ ) ≈ f ( R ) + ∂ f ( R ) ∂ θ Δ θ ∈ S O ( 3 ) \begin{aligned} \dfrac{\partial f\left( \bold{R}\right) }{\partial \bm{\theta} }&=\lim _{\delta \bm{\theta} \rightarrow 0}\dfrac{f\left( \bold{R}\boxplus \delta \bm{\theta} \right) -f\left( \bold{R}\right) }{\delta \bm{\theta} }\\ &=\lim _{\delta \bm{\theta} \rightarrow 0}\dfrac{f\left( \bold{R}{\rm Exp}\left( \delta \bm{\theta} \right) \right) -f\left( \bold{R}\right) }{\delta \bm{\theta} } \quad \in \mathbb{R}^{n\times 3}\\ f\left( \bold{R}\boxplus \delta \bm{\theta} \right) &\approx f\left( \bold{R}\right) +\dfrac{\partial f\left( \bold{R}\right) }{\partial \bm{\theta} }\Delta \bm{\theta} \quad \in SO(3) \end{aligned} ∂θ∂f(R)f(R⊞δθ)=δθ→0lim