Lie Groups I: Introduction and Examples

  • Gregory S. Chirikjian
Part of the Applied and Numerical Harmonic Analysis book series (ANHA)


The concept of a group was described briefly in Chapter 1. This chapter serves as an introduction to a special class of groups, the Lie groups, which are named after Norwegian mathematician Sophus Lie.1 Furthermore, when referring to Lie groups, what will be meant in the context of this book is matrix Lie groups, where each element of the group is a square invertible matrix. Other books focusing specifically on matrix groups include [3, 9, 19].


Matrix Multiplication Structure Constant Binary Operation Heisenberg Group Semidirect Product 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringThe Johns Hopkins UniversityBaltimoreUSA

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