Egomotion_with_local_loop_closures

This code is based on the paper [Computing Egomotion with Local Loop Closures for Egocentric Videos](https://arxiv.org/pdf/1701.04743.pdf) by Suvam Patra, Himanshu Aggarwal, Himani Arora, Subhashis Banerjee, Chetan Arora. It implements a robust method for camera pose estimation using short local loop closures and rotation averaging.