SO(3) Identities and Approximations

Lie Algebra Lie Group (left) Jacobian

2 3^ 2 3
u1 0 u3 u2
u ^ = 4 u2 5 = 4 u3 0 u1 5 P1 1 ^ n
u3 u2 u1 0 C = exp ^ ⌘ n=0 n!
R1 P1 ^ n
^
(↵u + v) ⌘ ↵u + v ^ ^ ⌘ cos 1 + (1 cos )aa + sin a^
T
J= 1
C↵ d↵ ⌘ n=0 (n+1)!
T ⇡1+ ^
0 ⇣ ⌘
u^ ⌘ u^ P 1 1 ^ n ^ ⌘ sin 1 + 1 sin aaT + 1 cos a^
C 1 ⌘ CT ⌘ n=0 n! ⇡1
u^ v ⌘ v ^ u ⇡ 1 + 12 ^
= a P1
u^ u ⌘ 0 J 1 ⌘ n=0 Bn!n ^
n
^ aT a ⌘ 1
(Wu) ⌘ u (tr(W) 1 W) WT u^
^
⌘ 2 cot 2 1 + 1 2 cot 2 aaT a^
C C ⌘ 1 ⌘ CCT
T
2
u^ v^ ⌘ (uT v) 1 + vuT ⇡1 2 1 ^
tr(C) ⌘ 2 cos + 1
u^ W v^ ⌘ ( tr(vuT ) 1 + vuT ) ^
exp ( + ) ⇡ exp ((J )^ ) exp ^
det(C) ⌘ 1
⇥ ( tr(W) 1 + WT ) C ⌘ 1 + ^J
Ca ⌘ a
+ tr(WT vuT ) 1 WT vuT J( ) ⌘ C J( )
C =
u v u ⌘ u^ u^ v^ + v^ u^ u^ + (uT u) v^
^ ^ ^
3 Ca^ ⌘ a^ C
(u^ ) + (uT u) u^ ⌘ 0 ^ ↵ ^
C↵
C ^ ⌘ ^C exp C ⇡ 1 + (A(↵, )
P1
)
u^ v^ v^ v^ v^ u^ ⌘ (v^ u^ v)^ ^
A(↵, ) = ↵ J(↵ )J( ) 1 = n=0 Fn (↵) ^ n
^ (Cu) ⌘ Cu^ CT n!
[u^ , v^ ] ⌘⇥u^ v^ ⇤ v^⇤⇤ u^ ⌘ (u^ v)
⇥ ^ ⇥ ^ n ^ exp ((Cu)^ ) ⌘ C exp (u^ ) CT
u , u , . . . u^ , v^ . . . ⌘ ((u^ ) v)
| {z }
n

↵, 2 R, u, v, , 2 R3 , W, A, J 2 R3⇥3 , C 2 SO(3)
 SE(3) Identities and Approximations

Lie Algebra Lie Group (left) Jacobian


⇢
⇠=
^ P1 1 ^ n
⇣ ⇠ ⌘⌘ n=1 ⇣
T = exp n!
⇠ ⌘
^ ^ 2
^  ^ ⌘1+⇠ + 1 cos
2 (⇠ ) + sin
3 (⇠ ^ )3 R1 P1
⇠f
n
u v u J = T ↵ d↵ ⌘ n=0 (n+1)! 1
x^ = = T ⇡ 1 + ⇠ ^ ⇣ 0 ⌘ ⇣ ⌘
v 0 0
= 1 + 4 sin2 2 4 cos ⇠ f + 4 5 sin2 3+ cos ⇠f
2
 f  ^ C J⇢
u v u^ T⌘ T ⇣ ⌘ ⇣ ⌘
xf = = 0 1
+ 2 sin2 4 2 cos ⇠ f + 2 3 sin2 5+ cos
3
⇠f
4
v 0 v^ ⇠ f ⌘ ad ⇠ ^
⇡ 1 + 12 ⇠ f
^ P1 1 f n
(↵x + y) ⌘ ↵x^ + y^ f
f
(↵x + y) ⌘ ↵xf + yf ⇣ T = exp ⇠⌘ ⌘ ⇣ n=1 n! ⇠ ⌘ J Q
⌘ 1 + 3 sin 2 cos ⇠ f + 4 sin2 2 4 cos ⇠f
2
J ⌘
xf y ⌘ y f x ⇣ ⌘ ⇣ ⌘ 0 J
P 1 Bn f n
xf x ⌘ 0 ⇠ f + 2 sin2 4 2 cos ⇠f ⇡ 1 12 ⇠ f
3 4
+ sin 2 3cos J 1 ⌘ n=0  n!1 ⇠
4 2
(x^ ) + (vT v) (x^ ) ⌘ 0 ⇡ 1 + ⇠ f J 1⌘
J J 1 QJ 1
(xf ) + 2(vT v) (xf ) + (vT v)2 (xf ) ⌘ 0
5 3
C (J⇢) C
^ 0 J 1
T = Ad (T) ⌘ P1 P1 ^ n ^ ^ m
[x^ , y^ ] ⌘ x^ y^ y^ x^ ⌘ (xf y)
^ 1
0 C Q = n=0 m=0 (n+m+2)! ⇢
f
⇣ ⌘
[xf , yf ] ⌘ ⇥xf yf ⇤ yf⇤⇤
⇥ ^ ⇥ ^
xf ⌘ (xf y) tr(T) ⌘ 2 cos + 2, det(T) ⌘ 1 ⌘ 12 ⇢^ + sin
3
^ ^
⇢ + ⇢^ ^ + ^ ⇢^ ^
^ ^ f n
x , x , . . . x , y . . . ⌘ ((x ) y)
^
Ad (T1 T2 ) = Ad (T1 ) Ad (T2 ) ⇣ 2 ⌘
^ ^ ^
| {z } P1 1 n + +2 cos 2
⇢ + ⇢^ ^ ^ 3 ^ ⇢^ ^
T ⌘ exp ⇠ ^ ⌘ n=1 n!
1
⇠^ ⇡ 1 ⇠^ ⇣ 2
4
⌘
⇥ f ⇥ fn ⇥ ⇤ ⇤⇤ f ^ ^ ^ ^
x , x , . . . xf , yf . . . ⌘ ((xf ) y)
n CT CT r + 2 3 sin2 5+ cos ⇢ + ^ ^ ⇢^ ^
| {z } T 1⌘ T
0 1 ^
exp (⇠ + ⇠) ⇡ exp ((J ⇠)^ ) exp ⇠ ^
P1 1
⌘ exp ⇠ ⌘ n=1 n! ⇠ f ⇡ 1 ⇠ f
f
n 1 n
f
T exp (⇠ + ⇠) ⇡ exp ((J ⇠)f ) exp ⇠ f
  CT (J⇢)^
" ⌘1 "^ T 1⌘
CT T ⌘ 1 + ⇠f J
p =
⌘
= T
0 0T
0 CT J ⇠f ⌘ ⇠f J
 }  T⇠⌘⇠ J (⇠) ⌘ T J ( ⇠)
" 0 "
}
p = = T⇠ ^ ⌘ ⇠ ^ T, T ⇠ f ⌘ ⇠ f T
⌘ "^ 0 f
(T x) ⌘ Tx^ T 1 , (T x) ⌘ T xf T 1
^ ↵ ^
x^ p ⌘ p x exp ⇠ ^ T ⇡ 1 + (A(↵, ⇠) ⇠) T↵
^
exp (T x) ⌘ T exp (x^ ) T 1 P1
A(↵, ⇠) = ↵ J (↵⇠)J (⇠) 1 = n=0 Fnn!(↵) ⇠ f
n
pT x^ ⌘ xT p} f
exp (T x) ⌘ T exp (xf ) T 1

1
(Tp) ⌘ Tp T
T T
(Tp) (Tp) ⌘ T T p p T 1

↵, 2 R, u, v, , 2 R3 , p 2 R4 , x, y, ⇠, ⇠ 2 R6 , C 2 SO(3), J, Q 2 R3⇥3 , T, T1 , T2 2 SE(3), T 2 Ad(SE(3)), J , A 2 R6⇥6