## Probabilities and Statistics on Riemannian Manifolds: A Geometric approach

- Xavier Pennec, Xavier Penne
- 2004

In this paper we show that the matrix von Mises-Fisher (vMF) distribution is a reasonable distribution upon which to build an online density estimation scheme for rotation matrices. We also consider a special case, the unit circle, for initial experimentation. The vector and matrix vMF distributions admit online algorithms in terms of their expectation… (More)