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The 3x6 matrix G is as follows,
$\text{G} = [\text{V}_\times| I_{3\times3}]$

$\text{V}$ is a skew matrix of a vector with 3 elements about a 3D point. The dimension of $\text{V}$ is 3x3.
$I$ is the 3x3 identity matrix.
I think the vertical line between $\text{V}$ and $I$ is used to concatenate these two 3x3 matrices to be a 3x6 matrix.
I would like to ask what the subscript 'x' of $\text{V}$ means.
I could not search the information with a good keyword.

BTW, this formula came from the paper KinectFusion: Real-Time Dense Surface Mapping and Tracking. The 21st formula.

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  • $\begingroup$ Notice that the subscript is the cross product $\times$, not the letter $x$. $\endgroup$
    – LSpice
    Jan 9, 2022 at 16:47

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It is the skew-symmetric form defined here.

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