On Averaging Rotations

@article{Gramkow2001OnAR,
  title={On Averaging Rotations},
  author={Claus Gramkow},
  journal={International Journal of Computer Vision},
  year={2001},
  volume={42},
  pages={7-16}
}
In this paper two common approaches to averaging rotations are compared to a more advanced approach based on a Riemannian metric. Very often the barycenter of the quaternions or matrices that represent the rotations are used as an estimate of the mean. These methods neglect that rotations belong to a non-linear manifold and re-normalization or orthogonalization must be applied to obtain proper rotations. These latter steps have been viewed as ad hoc corrections for the errors introduced by… CONTINUE READING
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