A micro Lie theory for state estimation in robotics
面向機器人方向的李羣教程，不涉及李括號，確實到目前爲止也沒見過李括號的應用。 李羣的概念 李羣指的是光滑可微的羣，可以認爲綜合了羣和光滑流形的概念。光滑，可微的流形，指的是領域和歐式空間同構的線性空間，也就是李羣的每個元素存在線性空間或者向量空間作爲切空間。由於單位元在羣中的特殊地位，所以李羣單位元的切空間李代數是在李羣非常重要的概念。 切空間和李代數 由於李羣的光滑性，每個元素的切空
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