## Derivation of Jacobians in g2o::EdgeSE3Expmap

Jun 19, 2020

I has been asked about how to derive the Jacobians in g2o::EdgeSE3Expmap. Here is my derivation (note that $T_i$ and $T_j$ are the state of pose $i$ and $j$, $e$ is the error function, and $\bar{T}_{ij}$ is the measurment):