hku-mars/r2live

Question about formula derivation

SlamCabbage opened this issue · 2 comments

SlamCabbage commented

e44990d4-cc7f-4cdf-ab9b-12699aa2c35a
这里采用了SO3的伴随性质：
R^T exp(a[x]) R = exp((R^T a)[x])
为什么图中的推导没有加上转置呢？

stale commented

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