A small collection of Kalman Filters on Lie groups

Lie theory for robotics

Optimization for Robotics

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

Lie groups and algebra with some quaternions

many powerful tools for studying irreducible representations of SU(n), including making animations of hadron flavor-state multiplets

InEKF Localization and Semantic Mapping on the KITTI Dataset

Python library for handling geometry in state estimation problems in robotics. It is used to store, manipulate, and apply three-dimensional rotations and transformations and their associated uncertainties.

A python package using machine learning to study symmetry.

Auxiliary platform for the graduate course `Lie Groups and Lie Algebras' (李群李代数).

A toolkit that aims to provide several features with regards to special unitary groups, including the generation of matrix representations, decomposition of tensor products and more.

In this repo you can find implementation for Cubic and Quadratic B-splines trajectory generation given poses in R(3) along with B-spline trajectory T(t) generation, of any degree (n) given increments of poses in R(3) and also SO(3) and SE(3) Lie groups.

[CVPR 2024] Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)

An exercise of Base Lie theory in "State Estimation for Robotics"

Some work on the paper, "Automated Lie-algebraic input space partitioning using first-order two-dimensional cellular automata" by me (Shrohan Mohapatra. (2020, June 5). Automated Lie-algebraic input space partitioning using first-order two-dimensional cellular automata. Zenodo. http://doi.org/10.5281/zenodo.3880404), here in the specific example…

Notes on Lie algebras and their representation theory.

Tracking aggressive trajectories of a quadrotor on SO3/SE3 manifolds using geometric control strategies. Design-oriented project at BITS-PILANI (Goa Campus), 2021.

grg: Computer Algebra System for Differential Geometry, Gravitation and Field Theory, automatically mirrored from https://reduce-algebra.sourceforge.io/grg32/grg32.php

dimsym: Geometric and algebraic techniques for differential equations (with modelling applications); Symmetry Determination and Linear Differential Equation Package, mirrored from https://www.latrobe.edu.au/mathematics-and-statistics/research/geometric-and-algebraic-techniques-for-differential-equations/dimsym/

Computes the generators for a given representation of SU2 and SU3.