title: What is the correct way to average several rotation matrices?
body: <p>I get many rotation vectors from pose estimation of many frames (while camera is stationary) and I want the most accurate measure. Theoretically Can I average through rotation vector\matrices\other kind of data?  or is that wrong?
  in addition, how can I tell when a rotation vector\matrix is an outlier (i.e. very different from all the others and may be a miscalculation)? for example, in translation matrix I see the difference in centimeters of every entry and can have an intuitive threshold. Is there a similar way in rotation?</p>