Lie groups and their Lie algebras, like the rotation group SO(3), the Eucliedean group E(3) or the General Affine group GA(2), have recently found applications in Computer Vision. After a brief introduction to them, and to the exponential and logarithm mappings, relating the Lie algebra with the Lie group, an overview of the different applications in Computer Vision (like Visual Tracking, Motion Estimation, etc.) will be given.