A micro Lie theory for state estimation in robotics · HackerPapers discussions

A micro Lie theory for state estimation in robotics — HN submission

Thu, 06 Nov 2025 10:09:28 GMT

Lie Group Theory for Robotics

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A micro Lie theory for state estimation in robotics — mentioned by nihzm

Mon, 10 Jun 2024 12:53:21 GMT

Adapted from the paper https://arxiv.org/abs/1812.01537 and they have an interesting C++ library https://github.com/artivis/manif (I am not affiliated with this)

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A micro Lie theory for state estimation in robotics — mentioned by dimatura

Mon, 29 Jan 2024 16:38:49 GMT

I like this summary of Lie theory in the context of robotics: https://arxiv.org/pdf/1812.01537.pdf

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A micro Lie theory for state estimation in robotics — mentioned by fooblaster

Sun, 01 Jan 2023 15:42:05 GMT

Although I still don't understand liegroups with significant mathematical rigor, I do think I finally understand why they are used in code for computer vision and state estimation. It took me a shockingly long time to understand why. This paper was the catalyst to me finally grasping some of the details: https://arxiv.org/abs/1812.01537

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A micro Lie theory for state estimation in robotics — mentioned by cattleprodigy

Tue, 19 Apr 2022 04:08:44 GMT

I highly recommend this paper for a more in-depth treatment of exp/log map and the related representation of transformations: A Micro Lie Theory by Joan Sola, Jeremie Deray, Dinesh Atchuthan https://arxiv.org/pdf/1812.01537.pdf

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