The Lie algebra method with projection and Newton correction aligns vectors exactly for noiseless data and near-optimally for noisy data across classical matrix Lie groups, with formal Lean proofs.
Fletcher, Conjugate direction methods, in: Practical Methods of Optimization, John Wiley & Sons, Ltd, 2000, Ch
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Vector alignment in matrix Lie groups
The Lie algebra method with projection and Newton correction aligns vectors exactly for noiseless data and near-optimally for noisy data across classical matrix Lie groups, with formal Lean proofs.