Average Transformation (SE3)

Version 1.0.0 (422 KB) by HS Ding
Average Position and Orientation
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Updated 25 May 2024

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Core Function:
% Input:
% rot: 3*3*n SO3 Matrix or n*4 quat
% tran: 3*n or 3*1*n Position Column Vector
%
% Optional Input
% w: 1*n weight vector
avg_pos = AvgSE3(rot,tran)
avg_pos = AvgSE3(rot,tran,weight)
Quaternion Averaging
https://ntrs.nasa.gov/api/citations/20070017872/downloads/20070017872.pdf

Cite As

HS Ding (2026). Average Transformation (SE3) (https://www.mathworks.com/matlabcentral/fileexchange/166656-average-transformation-se3), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2024a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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myfunc

Version Published Release Notes
1.0.0