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Introduction to Manifolds and Lie
1.1 The Exponential Map
1.3. SYMMETRIC AND OTHER SPECIAL MATRICES 27
1.4. EXPONENTIAL OF SOME COMPLEX MATRICES 29
1.6. THE LIE GROUP SE(N) AND THE LIE ALGEBRA SE(N) 33
1.6 The Lie Group SE(n) and the Lie Algebra se(n)
1.7. THE DERIVATIVE OF A FUNCTION BETWEEN NORMED SPACES 37
1.8 Manifolds, Lie Groups and Lie Algebras
Review of Groups and Group Actions
2.1 Groups
2.2 Group Actions and Homogeneous Spaces, I
2.4 More on O(p,q)
2.5 Topological Groups
a topological group
Manifolds
3.1 Charts and Manifolds
3.2 Tangent Vectors, Tangent Spaces,
3.3 Tangent and Cotangent Bundles, Vector Fields, Lie
3.4 Submanifolds, Immersions, Embeddings
3.6 Partitions of Unity
3.7 Manifolds With Boundary
3.8 Orientation of Manifolds
3.9 Covering Maps and Universal Covering Manifolds
4.1 Sets of Gluing Data for Manifolds
4.2 Parametric Pseudo-Manifolds
5.1 Lie Groups and Lie Algebras
5.2 Left and Right Invariant Vector Fields, the Expo-
5.4. THE CORRESPONDENCE LIE GROUPS–LIE ALGEBRAS 205
5.4 The Correspondence Lie Groups–Lie Algebras
5.5 More on the Lorentz Group SO0(n,1)
5.6 More on the Topology of O(p,q) and SO(p,q)
5.7 Universal Covering Groups
The Derivative of exp and Dynkin’s
6.1 The Derivative of the Exponential Map
6.2. THE PRODUCT IN LOGARITHMIC COORDINATES 227
6.2 The Product in Logarithmic Coordinates
6.3 Dynkin’s Formula
7.1 Fibre Bundles
7.2 Vector Bundles
7.3 Operations on Vector Bundles
7.5 Principal Fibre Bundles
7.6 Homogeneous Spaces, II
Diﬀerential Forms
8.2 Diﬀerential Forms on Manifolds
8.3 Lie Derivatives
8.4 Vector-Valued Diﬀerential Forms
8.5 Diﬀerential Forms on Lie Groups and
8.6. VOLUME FORMS ON RIEMANNIAN MANIFOLDS AND LIE GROUPS 313
8.6 Volume Forms on Riemannian Manifolds and Lie
Integration on Manifolds
9.1 Integration in Rn
9.2 Integration on Manifolds
9.4. INTEGRATION ON RIEMANNIAN MANIFOLDS AND LIE GROUPS 323
9.4 Integration on Riemannian Manifolds and
10.1 Tangential Distributions, Involutive Distributions
10.2 Frobenius Theorem
10.3. DIFFERENTIAL IDEALS AND FROBENIUS THEOREM 335
10.3 Diﬀerential Ideals and Frobenius Theorem
11.3 Parallel Transport
11.4. CONNECTIONS COMPATIBLE WITH A METRIC 359
11.4 Connections Compatible with a Metric;
11.5 Duality between Vector Fields and Diﬀerential
11.6. PONTRJAGIN CLASSES AND CHERN CLASSES, A GLIMPSE 373
11.6 Pontrjagin Classes and Chern Classes, a Glimpse
11.7 Euler Classes and The Generalized Gauss-Bonnet
Geodesics on Riemannian Manifolds
12.1 Geodesics, Local Existence and Uniqueness
12.2 The Exponential Map
12.4 The Calculus of Variations Applied to Geodesics;
Curvature in Riemannian Manifolds
13.1 The Curvature Tensor
13.2 Sectional Curvature
13.3 Ricci Curvature
13.4. ISOMETRIES AND LOCAL ISOMETRIES 415
13.4 Isometries and Local Isometries
13.5 Riemannian Covering Maps
Riemannian covering map
13.6. THE SECOND VARIATION FORMULA AND THE INDEX FORM 421
13.6 The Second Variation Formula and the
13.7. JACOBI FIELDS AND CONJUGATE POINTS 425
13.7 Jacobi Fields and Conjugate Points
13.8 Convexity, Convexity Radius
13.10. CUT LOCUS AND INJECTIVITY RADIUS: SOME PROPERTIES 439
15.1 The Gradient, Hessian and Hodge ∗ Operators on
15.2 The Laplace-Beltrami and Divergence Operators
15.3 Harmonic Forms, the Hodge Theorem, Poincar´e
16.1 Introduction, Spherical Harmonics on the Circle
16.2 Spherical Harmonics on the 2-Sphere
16.3. THE LAPLACE-BELTRAMI OPERATOR 473
16.3 The Laplace-Beltrami Operator
16.6 Reproducing Kernel, Zonal Spherical Functions
16.7. MORE ON THE GEGENBAUER POLYNOMIALS 505
16.7 More on the Gegenbauer Polynomials
16.8 The Funk-Hecke Formula
Metrics and Curvature on Lie Groups
18.1 Left (resp. Right) Invariant Metrics
18.2 Bi-Invariant Metrics
18.3 Connections and Curvature of Left-Invariant
18.4 The Killing Form
The Log-Euclidean Framework
19.1 Introduction
19.2. A LIE-GROUP STRUCTURE ON SPD(N) 539
19.2 A Lie-Group Structure on SPD(n)
19.3 Log-Euclidean Metrics on SPD(n)
19.4. A VECTOR SPACE STRUCTURE ON SPD(N) 543
19.4 A Vector Space Structure on SPD(n)
19.5 Log-Euclidean Means
19.6 Log-Euclidean Polyaﬃne Transformations
19.7 Fast Polyaﬃne Transforms
19.8. A LOG-EUCLIDEAN FRAMEWORK FOR EXP(S(N)) 549
21.1 Introduction: Rotations As Group Actions
21.2 Cliﬀord Algebras
21.3 Cliﬀord Groups
21.4 The Groups Pin(n) and Spin(n)
21.5 The Groups Pin(p,q) and Spin(p,q)
21.6 Periodicity of the Cliﬀord Algebras Clp,q
21.7 The Complex Cliﬀord Algebras Cl(n,C)
21.8 The Groups Pin(p,q) and Spin(p,q) as double cov-
22.1 Tensors Products
22.2 Bases of Tensor Products
22.3. SOME USEFUL ISOMORPHISMS FOR TENSOR PRODUCTS 601
22.3 Some Useful Isomorphisms for Tensor Products
22.4 Duality for Tensor Products
22.5 Tensor Algebras
22.6 Symmetric Tensor Powers
22.7. BASES OF SYMMETRIC POWERS 613
22.7 Bases of Symmetric Powers
22.8. SOME USEFUL ISOMORPHISMS FOR SYMMETRIC POWERS 615
22.8 Some Useful Isomorphisms for Symmetric Powers
22.9 Duality for Symmetric Powers
22.10 Symmetric Algebras
22.11 Exterior Tensor Powers
22.12 Bases of Exterior Powers
22.13 Some Useful Isomorphisms for Exterior Powers
22.14 Duality for Exterior Powers
22.15 Exterior Algebras
22.16 The Hodge ∗-Operator
22.17. TESTING DECOMPOSABILITY; LEFT AND RIGHT HOOKS 633
22.17 Testing Decomposability; Left and Right Hooks
22.18 Vector-Valued Alternating Forms
22.19. TENSOR PRODUCTS OF MODULES OVER A COMMMUTATIVE RING 643
22.20 The Pfaﬃan Polynomial

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