能否分解解释一下这个相对位姿变化的公式？

The relative pose error formula is as follows: [Image] I will briefly describe my thinking: The first part: [Image] represents the transformation matrix Tgt (i + Δt, i), which indicates the true trajectory from i to i + Δt. The second part: [Image] represents the transformation matrix Test (i, i + Δt), which indicates the estimated trajectory from i to i + Δt. I would like to ask: 1) Is there any error in my understanding above? 2) What is the physical or geometric meaning of Tgt (i + Δt, i) * Test (i, i + Δt)? I come from the inertial guidance background, and there are usually connecting parts in transformation matrices, such as in Section 3.6.2 (P65) of ch3: [Image] The relative pose error above has no connecting part, which is puzzling.