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arXiv 2103.01585math.DG
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李群上具有左不变度量的约化平行迁移方程

A reduced parallel transport equation on Lie Groups with a left-invariant metric

Nicolas Guigui, Xavier Pennec

摘要:

本文给出了一个用赋有左不变度规的李群的李代数表示的平行输运方程的推导,并以刚体运动群SE(3)为例,利用基本的数值积分格式,将该方程的应用与极点阶梯算法进行了比较。这导致了并行传输的稳定和高效的实现。该实现利用了python包geomstats,可以在线获得。

英文摘要:

This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using basic numerical integration schemes, and compared to the pole ladder algorithm. This results in a stable and efficient implementation of parallel transport. The implementation leverages the python package geomstats and is available online.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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