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I need MatLab script which would take a series of rotation matrices (referring to an actual physical object's orientation) and apply median filter to it to eliminate speckle noise from it.

The way I'm doing it right now is by converting the matrix into three Euler angles, filter them and then use them to construct a new rotation matrix. The problem is that the numerical inaccuracy creeping in during the double conversion seems to be too significant for the filtering to be useful to me. Is there any way to filter the rotation matrix directly?

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