Lie group and Lie algebra

This seminar is the introduction of the Lie group and Lie algebra part1. Here I introduce the basic concept and definition of the Lie group and Lie algebra. Lie Group refers to a group with continuous (smooth) properties. SO(3) and SE(3) are the Lie group. And Lie algebra(so(3), se(3)) describes the local structure of the Lie group(SO(3), SE(3) around its origin point, or in other words, is the tangent space. Each Lie group has Lie algebra corresponding to it.