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The Special Galilean Group SGal(3) and Its Applications to Several Robotics Problems

The special Galilean group SGal(3) is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. This work briefly describes SGal(3) and its Lie algebra, explains how the group structure supports a unified representation of uncertainty in space and time, and points out the group's potential uses for several robotics problems.

Part of the event: SGal(3) Provides a Unified Representation of Spatiotemporal Uncertainty

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