Although I still don't understand liegroups with significant mathematical rigor, I do think I finally understand why they are used in code for computer vision a

Although I still don't understand liegroups with significant mathematical rigor, I do think I finally understand why they are used in code for computer vision and state estimation. It took me a shockingly long time to understand why. This paper was the catalyst to me finally grasping some of the details: https://arxiv.org/abs/1812.01537 https://arxiv.org/abs/1812.01537