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Lie Groups for 2D and 3D Transformations Ethan Eade Updated May 20, 2017 * 1 Introduction This document derives useful formulae for working with the Lie groups that represent transformations in 2D and 3D space. A Lie group is a topological group that is also a …

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In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments.

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