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
인용 양식
Bruno Luong (2024). RotationMean (https://www.mathworks.com/matlabcentral/fileexchange/134037-rotationmean), MATLAB Central File Exchange. 검색됨 .
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