Robust Single Rotation Averaging

Sur le point pour lequel la somme des distances de n points donnés est minimum

Endre Weiszfeld · 1937

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Least-squares fitting of two 3-D point sets

K. S. Arun, T. S. Huang, and S. D. Blostein · 1987

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Determination of a Mean Orientation from a Cloud of Orientations. Application to Electron Back-Scattering Pattern Measurements

M. Humbert, N. Gey, J. Muller, and C. Esling · 1996

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A note on mean orientation

A. Morawiec · 1998

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Precision attitude determination using a multiple model adaptive estimation scheme

Q. M. Lam and J. L. Crassidis · 2007

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Averaging quaternions

Landis Markley, Yang Cheng, John Crassidis, and Yaakov Oshman · 2007

Cited alongside, same era.

Rotation averaging with application to camera-rig calibration

Yuchao Dai, Jochen Trumpf, Hongdong Li, Nick Barnes, and Richard Hartley · 2009

Cited alongside, same era.

On the point for which the sum of the distances to n given points is minimum

Endre Weiszfeld and Frank Plastria · 2009

Cited alongside, same era.

Arithmetic and geometric solutions for average rigid-body rotation

Inna Sharf, Alon Wolf, and M.B. Rubin · 2010

Cited alongside, same era.

L1 rotation averaging using the Weiszfeld algorithm

Richard I. Hartley, Khurrum Aftab, and Jochen Trumpf · 2011

Cited alongside, same era.

Rotation averaging

Richard Hartley, Jochen Trumpf, Yuchao Dai, and Hongdong Li · 2013

Later among the works it cites.

Very fast solution to the pnp problem with algebraic outlier rejection

Luis Ferraz, Xavier Binefa, and Francesc Moreno-Noguer · 2014

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Convergence of iteratively re-weighted least squares to robust m-estimators

K. Aftab and R. Hartley · 2015

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A survey on rotation optimization in structure from motion

Roberto Tron, Xiaowei Zhou, and Kostas Daniilidis · 2016

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On-manifold preintegration for real-time visual–inertial odometry

Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza · 2017

Later among the works it cites.