Version 1.0.0 (2.73 KB) by Bruno Luong
Mean of the (3 x 3) rotation matrices
Updated 19 Aug 2023

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For a set of 3 x 3 rotation matrices Qk
Qmean = argmin d(R, Qk)^2, the min is taken on the set { R in SO(3)}, where
  • d(A,B) := norm(log(A'*B),2),
  • log(R) is the angle-axis of the rotation matrix R in SO(3)
NOTE: d(.,.) is SO(3) geodesic distance

Cite As

Bruno Luong (2024). RotationMean (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2023a
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