Hybrid analytical/AD method for SE(3) NLLs delivers exact Hessians 5x faster than finite-differencing while matching nested AD to machine precision, plus a fix for origin NaNs in the scalar basis.
Proceedings of the 21st IFAC Symposium on Mathematical Theory of Networks and Systems (MTNS) , year =
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Exact Higher-Order Derivatives for SE(3) via Analytical/AD Methods
Hybrid analytical/AD method for SE(3) NLLs delivers exact Hessians 5x faster than finite-differencing while matching nested AD to machine precision, plus a fix for origin NaNs in the scalar basis.