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2.1 Representation
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Lie Groups for 2D
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1.2 Lie algebras and
2
SO(3): Rotations in 3D space
Subsections
2
.
1
Representation
2
.
2
Exponential Map
2
.
3
Adjoint
2
.
4
Jacobians
2
.
5
Gaussians in SO(3)
2
.
5
.
1
Sampling
2
.
5
.
2
Composition of uncertain rotations
2
.
5
.
3
Bayesian combination of rotation estimates
2
.
6
Extended Kalman Filtering in SO(3)
Ethan Eade 2012-02-16
