A fibre bundle is an object $(E,M,F,\pi)$ consisting of

1. The total space $E$;
2. The base space $M$ with an open covering $\mathcal{U}=\{U_\alpha\}_{\alpha\in\mathcal{A}}$;
3. The fibre $F$ and the projection map $E\stackrel{\pi}{ \longrightarrow}M$.

The simplest case is $E=M\times F$. In this case, the bundle is called a trivial bundle. In general the total space may be too complicated for us to understand, so it would be nice if we can always find smaller parts that are simple enough for us to understand such as trivial bundles. For this reason, we want the fibre bundle to have the additional property: For each $U_\alpha\in\mathcal{U}$, there exists a homeomorphism $h_\alpha : \pi^{-1}(U_\alpha)\longrightarrow U_\alpha\times F$. Such a homeomorphism $h_\alpha$ is called a local trivialization. For each $x\in M$, $F_x:=\pi^{-1}(x)$ is homeomorphic to $\{x\}\times F$. $F_x$ is called the fibire of $x$.

Let $x\in U_\alpha\cap U_\beta$. Then $F_x^\alpha\subset\pi^{-1}(U_\alpha)$ and $F_x^\beta\subset\pi^{-1}(U_\beta)$ may not be the same. However, the two fibres are homeomorphic. For each $x\in M$, denote by $h_{\alpha\beta}(x)$ the homeomorphism from $F_x^\alpha$ to $F_x^\beta$. Then for each $x\in M$, $h_{\alpha\beta}(x)\in\mathrm{Aut}(F)$ where $\mathrm{Aut}(F)$ is the group of homeomorphisms from $F$ to itself i.e. the automorphism group of $F$. The map $h_{\alpha\beta}: U_\alpha\cap U_\beta\longrightarrow\mathrm{Aut}(F)$ is called a transition map. Note that for $U_\alpha,U_\beta\in\mathcal{U}$ with $U_\alpha\cap U_\beta\ne\emptyset$, $h_\alpha\circ h_\beta^{-1}:(U_\alpha\cap U_\beta)\times F\longrightarrow (U_\alpha\cap U_\beta)\times F$ satisfies
$$h_\alpha\circ h_\beta^{-1}(x,f)=(x,h_{\alpha\beta}(x)f)$$
for any $x\in U_\alpha\cap U_\beta$, $f\in F$