Paper_for_SE3_SO3.md

1. Metrics for 3D Rotations: Comparison and Analysis
   Method for SO3 -> so3 in Appendix is helpful.

2. Terse Notes on Riemannian Geometry
   Section 4.1 / Lie Group Exponential and Log Maps is helpful.

3. COMPUTING EXPONENTIALS OF SKEW-SYMMETRIC MATRICES AND LOGARITHMS OF ORTHOGONAL MATRICES
   p.2 is useful. if theta=0 or theta=pi, we need to know to deal it.

4. Survey of Higher Order Rigid Body Motion Interpolation Methods for Keyframe Animation and Continuous-Time Trajectory Estimation
   Section 5.

5. A tutorial on SE(3) transformation parameterizations and on-manifold optimization
   Generally useful.

6. 3D Rotations matrices
   eq(3.5)

7. Interpolation of Rigid Motions in 3D
   theta = pi and theta = 0 case.

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8. A micro Lie theory for state estimation in robotics

9. Lie-group interpolation and variational recovery for internal variables

10. Lie Groups for Computer Vision

11. Basics of Classical Lie Groups: The Exponential Map, Lie Groups, and Lie Algebras

12. Lie Groups for 2D and 3D Transformations

13. https://aibluefisher.github.io/2019/04/16/rotation/