https://github.com/christophhagen/averaging-quaternions

Python function for correct averaging of multiple quaternions
https://github.com/christophhagen/averaging-quaternions

Last synced: 3 days ago
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Python function for correct averaging of multiple quaternions

• Host: GitHub
• URL: https://github.com/christophhagen/averaging-quaternions
• Owner: christophhagen
• License: mit
• Created: 2017-09-08T09:46:08.000Z (about 7 years ago)
• Default Branch: master
• Last Pushed: 2017-09-15T06:06:57.000Z (about 7 years ago)
• Last Synced: 2023-03-04T20:24:00.308Z (over 1 year ago)
• Language: Python
• Size: 10.7 KB
• Stars: 71
• Watchers: 0
• Forks: 8
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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# (Correctly) averaging quaternions

Python function for correct averaging of multiple quaternions. Quaternions representations provide no trivial means of averaging multiple quaternions. Even though avaraging of the components can be used in some cases, this approach has major drawbacks (as explained in the paper cited below).

The function given here implements are more "mathematically correct" way of averaging. The paper also provides a way to do a weighted average (individual "importance of each quaternion"), which is implemented as well.

## In principle based on:

Markley, F. Landis, Yang Cheng, John Lucas Crassidis, and Yaakov Oshman.

"Averaging quaternions." Journal of Guidance, Control, and Dynamics 30,

no. 4 (2007): 1193-1197.

Link: https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf

## Code based on:

Tolga Birdal. "averaging_quaternions" Matlab code.

Link: http://jp.mathworks.com/matlabcentral/fileexchange/40098-tolgabirdal-averaging-quaternions

## Note on efficiency

This method is computationally expensive compared to naive mean averaging.

If only low accuracy is required (or the quaternions have similar orientations),

then quaternion averaging can possibly be done through simply averaging the

components (will require normalization).

### Comparison between different methods of averaging:

Claus Gramkow. "On Averaging Rotations"

Journal of Mathematical Imaging and Vision 15: 7–16, 2001, Kluwer Academic Publishers.

https://pdfs.semanticscholar.org/ebef/1acdcc428e3ccada1a047f11f02895be148d.pdf

### Side note

In computer graphics, averaging or blending of two quaternions is often done through

spherical linear interploation (slerp). Even though it's often used it might not be the best

way to do things, as described in this post:

Jonathan Blow.

"Understanding Slerp, Then Not Using It", February 2004

http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/