Updated 17 Aug 2015
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:
For this particular implementation, I would also like to reference Mandar Harshe:
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)
Tolga Birdal (2021). tolgabirdal/averaging_quaternions (https://github.com/tolgabirdal/averaging_quaternions), GitHub. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!Start Hunting!