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.
On a new species of imaginary quantities, connected with the theory of quaternions,
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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.