Yeah, about 10 years ago I was reading one of the earliest papers applying these ideas to computer vision and I was pretty confused, as I never had any expositi

Yeah, about 10 years ago I was reading one of the earliest papers applying these ideas to computer vision and I was pretty confused, as I never had any exposition to Lie group/algebras in my engineering undergrad. So I tried to read mathematical texts on this subject and I was 100x more confused! Would have been useful to article like the GP's one back then.