On the BCH-formula in so(3)

@article{Eng2001OnTB,
  title={On the BCH-formula in so(3)},
  author={K. Eng{\o}},
  journal={BIT Numerical Mathematics},
  year={2001},
  volume={41},
  pages={629-632}
}
  • K. Engø
  • Published 2001
  • Mathematics
  • BIT Numerical Mathematics
We find local closed-form expression for the Baker—Campbell—Hausdorff formula in the Lie algebra so(3), and interpret the formula geometrically in terms of rotation vectors in ℝ3. 
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