Diffeomorphic Logarithm of Special Orthogonal Matrices

Zhifeng Deng, P. -A. Absil, Kyle A. Gallivan +1

The special orthogonal group ${\mathbb{SO}}_n$ is a Lie group whose geometry and local structure are encoded by the exponential map in its Lie algebra ${\mathbf{Skew}}_n$, the set of s…