iRotAvg (incremental rotation averaging) incrementally solves rotation averaging. iRotAvg is the optimisation core of L-infinity SLAM presented in [Á. Parra, T.-J. Chin, A. Eriksson, I. Reid: Visual SLAM: Why bundle adjust?, ICRA 2019].

This work was supported by Maptek and the ARC Grant DP160103490.

Source code

For source code visit the GitHub repository.