  This paper addresses the problem of motion synchronization (or averaging) and
describes a simple, closed-form solution based on a spectral decomposition,
which does not consider rotation and translation separately but works straight
in SE(3), the manifold of rigid motions. Besides its theoretical interest,
being the first closed form solution in SE(3), experimental results show that
it compares favourably with the state of the art both in terms of precision and
speed.
