Hello guys, I have got loads of orientation matices and i want to take there mean. The thing is that i have found this paper "Mean and averaging in the group of rotations" by Maher Moakher. It specifies how one can do that but i am not able to understand the steps. I would appreciate if some one can help. The link of the paper is http://citeseer.ist.psu.edu/cache/pa...her02means.pdf and thing that i am mentioning is on page 11 Projected arithemtic mean. It says that projected airthmetic mean of the given matrices is given by the polar factor of the polar decomposition of their sum. But the equation shown is a bit confusing. I cannot understand the steps. First you take the sum of orientation matrices and then do polar decomposition ... when do u have to take the mean ? Can someone please help ?