Learning Image Rotations with Lie Groups & Riemannian Geometry

Relevant concepts I explore include:

• Skew-symmetric matrix manifolds
• Lie group theory
• Matrix exponential-based gradient updates in a Riemannian optimization approach
• The applications to learning rotations

I attempt to implement the following Algorithm 1 in Python - as originally proposed in [1]:

[1]. R. Arora. On learning rotations. In Advances in Neural Information Processing Systems, pages 55–63, 2009.