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This article introduces a method for computing weighted averages on spheres based on least squares minimization that respects spherical distance. We prove existence and uniqueness properties of the weighted averages, and give fast iterative algorithms with linear and quadratic convergence rates. Our methods are appropriate to problems involving averages of… (More)
Properly establishing the relation between linear algebra and geometry makes it easier to obtain the three-by-three orthogonal matrix that describes a specified rotation.