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\documentclass{amsart}
\usepackage{amsmath,amssymb}
\usepackage[all]{xy}
\begin{document}
 \begin{equation*} 
 \xymatrix@R+2em@C+2em{ 
  SO(3;1)^{+} \ar[r]^-{\Pi} & GL(V) \\ 
  \mathfrak{so}(3;1) \ar[u]^-{\mathrm{exp}} \ar[r]^-{\pi} & \mathfrak{gl}(V) \ar[u]^-{\mathrm{exp}} } 
 \end{equation*}
\end{document}
pdflatex file.tex
pdfcrop --clip file.pdf tmp.pdf
pdf2svg tmp.pdf file.svg
(rm tmp.pdf at the end)

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