I am currently in the process of going through Ticciati's Quantum Field Theory for Mathematicians, which states the following (Theorem 13.7.11):
"Let $g$ be a differentiable function from $S^3$ to a [connected] simple group $G$. Then the winding number of $g$ is given by $$ \frac{1}{24\pi ^2}\int \epsilon ^{rst}\mathrm{tr}\, (A_rA_sA_t), $$ where $A_r=-(\partial _rg)g^{-1}$."
What is he referring to here by "winding number"?
Presumably he is referring to the degree of the map, but to the best of my knowledge, there is no notion of degree of a map unless the dimensions of the domain and co-domain manifolds are the same. He mentions previously that every such map is homotopic to a map from $S^3$ to either an $SU(2)$ or $SO(3)$ subgroup of $G$, in which case the notion of degree would make sense. What result is he referring to here and how does one make precise sense of the notion of a "winding number" in this case (he provides no precise definition)?
As a side (and perhaps irrelevant) comment, I don't really think this text deserves the "for Mathematicians" qualifier. I've found it to be better than most other texts, but its level of rigor is nowhere near that found in typical mathematics texts, and as such, I suspect that this 'Theorem' might be a bit tainted by the usual 'physicist slop' that comes with the territory (i.e. quantum field theory).