Geodesic
Calculation of the orientation distribution function from a set of individual orientations on $\mathrm{SO}(3)$
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 47 (2007) no. 6, pp. 1015-1028

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Kernel and projection methods for recovering the density function on the rotation group $\mathrm{SO}(3)$ are considered. Numerical examples are presented in which the density function is estimated depending on the sample size, a smoothing parameter (in the case of kernel methods), the approximation kernel, and the error in the input data. A set of orientations is specified by normally distributed rotations on $\mathrm{SO}(3)$ derived by the Monte Carlo method. 
@article{ZVMMF_2007_47_6_a7,
     author = {T. I. Savyolova and M. V. Sypchenko},
     title = {Calculation of the orientation distribution function from a set of individual orientations on $\mathrm{SO}(3)$},
     journal = {\v{Z}urnal vy\v{c}islitelʹnoj matematiki i matemati\v{c}eskoj fiziki},
     pages = {1015--1028},
     publisher = {mathdoc},
     volume = {47},
     number = {6},
     year = {2007},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZVMMF_2007_47_6_a7/}
}
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T. I. Savyolova; M. V. Sypchenko. Calculation of the orientation distribution function from a set of individual orientations on $\mathrm{SO}(3)$. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 47 (2007) no. 6, pp. 1015-1028. http://geodesic.mathdoc.fr/item/ZVMMF_2007_47_6_a7/