Lie theory cheatsheet

Lie theory in robotics

In the last years, the Lie theory started to gain momentum and proved to be a powerful tool in the domain of state estimation. The theory was transposed in robotics terms in “State Estimation for Robotics” by Tim Barfoot. Also, a micro Lie theory was proposed by Sola et al..

Using the notations of Tim Barfoot’s book, we designed a cheatsheet synthesizing the main notions to remember when working with Lie groups.