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

DOI10.1007/978-3-030-80209-7_14MaRDI QIDQ2117838zbMATH OpenOpenAlexFDO

Authors Nicolas Guigui, Xavier Pennec

Publication date 22 March 2022

Full work available at URL https://arxiv.org/abs/2103.01585

zbMATH Keywords

Lie groupsparallel transportpython package geomstats

Mathematics Subject Classification ID

Geodesics in global differential geometry (53C22) Differential geometry of homogeneous manifolds (53C30) Applications of differential geometry to sciences and engineering (53Z99)

Abstract: 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.

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Cited in

(3)

• Numerical accuracy of ladder schemes for parallel transport on manifolds
• Theoretically and Computationally Convenient Geometries on Full-Rank Correlation Matrices
• Introduction to Riemannian Geometry and Geometric Statistics: From Basic Theory to Implementation with Geomstats

Describes a project that uses

Uses Software

• geomstats

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