SE(n)++ for Pose Estimation

orthonormalize.m - Orthonormalization of square matrices

SEn_SOnp1.m - Transformation from SE(n) to SO(n + 1)

SOnp1_SEn.m - Transformation from SO(n + 1) to SE(n)

SEn_point_cloud_reg.m - An example for point cloud registration using SE(n)++

Reference

Wu, J., Liu, M. et al. (2020) SE(n)++: An Efficient Solution to Multiple Pose Estimation Problems. IEEE Transactions on Cybernetics.