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

DOI10.1007/978-3-030-80209-7_14zbMATH Open1490.53072arXiv2103.01585OpenAlexW3184569230MaRDI QIDQ2117838FDOQ2117838

Nicolas Guigui, Xavier Pennec

Publication date: 22 March 2022

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.

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

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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)

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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

Uses Software

• geomstats

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