A comparative review of SO(3) rotation representations finds quaternions dominant for compactness and efficiency while 6D continuous and probabilistic methods improve continuity and uncertainty handling.
Practical parameterization of rotations using the exponential map,
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Representations of 3D Rotations: Mathematical Foundations and Comparative Analysis
A comparative review of SO(3) rotation representations finds quaternions dominant for compactness and efficiency while 6D continuous and probabilistic methods improve continuity and uncertainty handling.