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symforce
Fast symbolic computation, code generation, and nonlinear optimization for robotics
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Tutorial on manifolds and lie groups
#92
Open
aaron-skydio
opened
2 years ago
LMWafer
commented
1 month ago
As examples, I suggest the following references :
A micro Lie theory for state estimation in robotics
. It explains core concepts from a robotic POV into less than 20 pages and provides references to other tutorials.
Modern Robotics : Mechanics, Planning and Control
. A book alongside videos and online courses to explain Lie groups and their applications to undergraduates.
Lie groups for 2D and 3D transformations
. Provides tools for operations, differentiation and probabilities over usual groups (
SO(3)
,
SE(3)
,
Sim(3)
etc.)
A tutorial on SE(3) transformation parameterizations and on-manifold optimization
. Similar to the previous reference, but offers a lot more insights on maths and proposes an optimization POV.
The Banana Distribution Is Gaussian: A Localization Study with Exponential Coordinates
. A research paper accessible to graduates who want to better understand probabilities one Lie groups.
As examples, I suggest the following references :