Skyrme baryon number as a mapping degree ($B=-\frac{1}{24{\pi }^2}\int \mathrm{tr}(U^{-1}dU{)}^3=\mathrm{deg}U$)

Under SU(2) as the three-sphere, a Skyrme model field with $U\to I$ at infinity defines $S^3\to S^3$. Choose $T_i=-i{\tau }_i$ and positive left volume form ${\theta }^1\wedge {\theta }^2\wedge {\theta }^3$. The normalized form is $-(24{\pi }^2{)}^{-1}\mathrm{tr}(U^{-1}dU{)}^3$, so the topological baryon number in the Skyrme model equals $\mathrm{deg}U$. Generator and orientation conventions fix the sign.