Code covered by the BSD License  

Highlights from
Averaging Quaternions

5.0

5.0 | 1 rating Rate this file 28 Downloads (last 30 days) File Size: 2.35 KB File ID: #40098

Averaging Quaternions

by

 

This function computes the average (mean) quaternion.

| Watch this File

File Information
Description

Since quaternions are not regular vectors, but rather representations of orientation, an average quaternion cannot just be obtained by taking a weighted mean. This function implements the work done by F. Landis Merkley to calculate the average quaternion. The algorithm is explained by F. Landis Markley at:
http://www.acsu.buffalo.edu/~johnc/ave_quat07.pdf
For this particular implementation, I would also like to reference Mandar Harshe:
http://www-sop.inria.fr/members/Mandar.Harshe/knee-joint/html/index.html

While being basic and straightforward, this algorithm is compared with rotqrmean from VoiceBox and found to produce quite similar results, yet it is more elegant, much simpler to implement and follow. (Though, there might be difference in signs)

Required Products MATLAB
MATLAB release MATLAB 7.9 (R2009b)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (2)
30 Jan 2014 sathish  
30 Sep 2013 Tolga Birdal

Note that on 2001 Claus Gramkow showed that the naive mean is in fact a fair approximation of rotations:
http://www.soest.hawaii.edu/wessel/courses/gg711/pdf/Gramkow_2001_JMIV.pdf

I think re-orthagonalization using SVD after a standard averaging would suffice most applications.

Contact us