L1 rotation averaging using the Weiszfeld algorithm. - Richard I. Hartley; Khurrum Aftab; Jochen Trumpf (CVPR, 2011)

Lq Averaging for Symmetric Positive-Definite Matrices. - Khurrum Aftab; Richard I. Hartley (DICTA, 2013)

LQ-bundle adjustment. - Khurrum Aftab; Richard I. Hartley (ICIP, 2015)

Convergence of Iteratively Re-weighted Least Squares to Robust M-Estimators. - Khurrum Aftab; Richard I. Hartley (WACV, 2015)

Lq-Closest-Point to Affine Subspaces Using the Generalized Weiszfeld Algorithm. - Khurrum Aftab; Richard I. Hartley; Jochen Trumpf (Int. J. Comput. Vis., 2015)

Generalized Weiszfeld Algorithms for Lq Optimization. - Khurrum Aftab; Richard I. Hartley; Jochen Trumpf (IEEE Trans. Pattern Anal. Mach. Intell., 2015)