Differential geometry and Lie groups. A computational perspective (Q2191125)

The book is presented as a thorough foundation for bridging the abstract topics of differential geometry and Lie groups to computational applications. The style of the book, numerous examples, exercises and extensive references recommend it for a wide and varied audience from mathematicians to computer scientists. The authors cover concepts increasing gradually in difficulty on manifolds, Riemannian geometry and Lie groups. The book is structured in two parts: Part I is focused on an introduction to differential manifolds and Lie groups and Part II describes in detail notions of Riemannian geometry, Lie groups and homogeneous spaces. The former is built on the basic theory of manifolds and Lie groups covering adjoint representations and the derivative of exp (Chapter 3), concepts on groups and group actions (Chapter 4), the Lorentz groups (Chapter 6), vector fields, Lie derivatives, integral curves and flows (Chapter 10) and several others; the latter covers some of the fundamental topics of Riemannian geometry such as connections on manifolds (Chapter 15), geodesics on Riemannian manifolds (Chapter 16), curvature in Riemannian manifolds (Chapter 17) and others. The most interesting concepts and results in this book are related to the theory of naturally reductive homogeneous manifolds and symmetric spaces; the authors' detail and approach for computing explicitly, in terms of matrices, all the notions from differential geometry presented beforehand. They also discuss approaches to generalise optimisation methods to Riemannian manifolds. Amongst the practical applications included are: (a) constructing manifolds from gluing data with applications in surface reconstruction from 3D (meshes), in Chapter 9, (b) a Log-Euclidean framework with applications in medical imaging (Chapter 22), (c) applications of homogeneous reductive spaces and symmetric spaces with applications in robotics, machine learning and computer vision. The book is intended for incremental study and covers both basic concepts and more advanced ones. The former are thoroughly supported with theory and examples, and the latter are backed up with extensive reading lists and references. The chapters and sections marked with * contain more advanced material, suitable for in-depth study. All chapters conclude with series of selected problems and exercises. Thanks to its design and approach style this is a timely and much needed addition that enables interdisciplinary bridges and the discovery of new applications for differential geometry.