The present book is intended as a textbook and reference work on three topics in the title. Together with a volume in progress on "Groups and Geometric Analysis" it supersedes my "Differential Geometry and Symmetric Spaces," published in 1962. Since that time several branches of the subject, particularly the function theory on symmetric spaces, have developed substantially. I felt that an expanded treatment might now be useful.

This textbook offers an introduction to differential geometry designed for readers interested in modern geometry processing. Working from basic undergraduate prerequisites, the authors develop manifold theory and Lie groups from scratch; fundamental topics in Riemannian geometry follow, culminating in the theory that underpins manifold optimization techniques. Students and professionals working in computer vision, robotics, and machine learning will appreciate this pathway into the mathematical concepts behind many modern applications. Starting with the matrix exponential, the text begins with an introduction to Lie groups and group actions. Manifolds, tangent spaces, and cotangent spaces follow; a chapter on the construction of manifolds from gluing data is particularly relevant to the reconstruction of surfaces from 3D meshes. Vector fields and basic point-set topology bridge into the second part of the book, which focuses on Riemannian geometry. Chapters on Riemannian manifolds encompass Riemannian metrics, geodesics, and curvature. Topics that follow include submersions, curvature on Lie groups, and the Log-Euclidean framework. The final chapter highlights naturally reductive homogeneous manifolds and symmetric spaces, revealing the machinery needed to generalize important optimization techniques to Riemannian manifolds. Exercises are included throughout, along with optional sections that delve into more theoretical topics. Differential Geometry and Lie Groups: A Computational Perspective offers a uniquely accessible perspective on differential geometry for those interested in the theory behind modern computing applications. Equally suited to classroom use or independent study, the text will appeal to students and professionals alike; only a background in calculus and linear algebra is assumed. Readers looking to continue on to more advanced topics will appreciate the authors’ companion volume Differential Geometry and Lie Groups: A Second Course.

The aim of this work is to lay the foundations of differential geometry and Lie theory over the general class of topological base fields and -rings for which a differential calculus has been developed, without any restriction on the dimension or on the characteristic. Two basic features distinguish the author's approach from the classical real (finite or infinite dimensional) theory, namely the interpretation of tangent- and jet functors as functors of scalar extensions and the introduction of multilinear bundles and multilinear connections which generalize the concept of vector bundles and linear connections.

This volume presents a collection of problems and solutions in differential geometry with applications. Both introductory and advanced topics are introduced in an easy-to-digest manner, with the materials of the volume being self-contained. In particular, curves, surfaces, Riemannian and pseudo-Riemannian manifolds, Hodge duality operator, vector fields and Lie series, differential forms, matrix-valued differential forms, Maurer-Cartan form, and the Lie derivative are covered.Readers will find useful applications to special and general relativity, Yang-Mills theory, hydrodynamics and field theory. Besides the solved problems, each chapter contains stimulating supplementary problems and software implementations are also included. The volume will not only benefit students in mathematics, applied mathematics and theoretical physics, but also researchers in the field of differential geometry.

A great book ... a necessary item in any mathematical library. --S. S. Chern, University of California A brilliant book: rigorous, tightly organized, and covering a vast amount of good mathematics. --Barrett O'Neill, University of California This is obviously a very valuable and well thought-out book on an important subject. --Andre Weil, Institute for Advanced Study The study of homogeneous spaces provides excellent insights into both differential geometry and Lie groups. In geometry, for instance, general theorems and properties will also hold for homogeneous spaces, and will usually be easier to understand and to prove in this setting. For Lie groups, a significant amount of analysis either begins with or reduces to analysis on homogeneous spaces, frequently on symmetric spaces. For many years and for many mathematicians, Sigurdur Helgason's classic Differential Geometry, Lie Groups, and Symmetric Spaces has been--and continues to be--the standard source for this material. Helgason begins with a concise, self-contained introduction to differential geometry. Next is a careful treatment of the foundations of the theory of Lie groups, presented in a manner that since 1962 has served as a model to a number of subsequent authors. This sets the stage for the introduction and study of symmetric spaces, which form the central part of the book. The text concludes with the classification of symmetric spaces by means of the Killing-Cartan classification of simple Lie algebras over $\mathbb{C}$ and Cartan's classification of simple Lie algebras over $\mathbb{R}$, following a method of Victor Kac. The excellent exposition is supplemented by extensive collections of useful exercises at the end of each chapter. All of the problems have either solutions or substantial hints, found at the back of the book. For this edition, the author has made corrections and added helpful notes and useful references. Sigurdur Helgason was awarded the Steele Prize for Differential Geometry, Lie Groups, and Symmetric Spaces and Groups and Geometric Analysis.

The blending of algebra, geometry, and differential equations has a long and distinguished history, dating back to the work of Sophus Lie and Elie Cartan. Overviewing the depth of their influence over the past 100 years presents a formidable challenge. A conference was held on the centennial of Lie's death to reflect upon and celebrate his pursuits, later developments, and what the future may hold. This volume showcases the contents, atmosphere, and results of that conference. Ofparticular importance are two survey articles: Morimoto develops a synthetic study of Lie groups, geometric structures, and differential equations from a unified viewpoint of nilpotent geometry. Yamaguchi and Yatsui discuss the geometry of higher order differential equations of finite type. Contributedresearch articles cover a wide range of disciplines, from geometry of differential equations, CR-geometry, and differential geometry to topics in mathematical physics. This volume is intended for graduate students studying differential geometry and analyis and advanced graduate students and researchers interested in an overview of the most recent progress in these fields. Information for our distributors: Published for the Mathematical Society of Japan by Kinokuniya, Tokyo, and distributedworldwide, except in Japan, by the AMS. All commercial channel discounts apply.

Differential Geometry of Manifolds discusses the theory of differentiable and Riemannian manifolds to help students understand the basic structures and consequent developments. Since the tangent vector plays a crucial role in the study of differentiable manifolds, this idea has been thoroughly discussed. In the theory of Riemannian geometry some new proofs have been included to enable the reader understand the subject in a comprehensive and systematic manner. This book will also benefit the postgraduate students as well as researchers working in the field of differential geometry and its applications to general relativity and cosmology.