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1 2020

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An algorithm for quaternion-based 3D rotation

Cariow Aleksandr, Cariowa Galina, Majorkowska-Mech Dorota

International Journal of Applied Mathematics and Computer Science

2020

Vol. 30, no. 1

149--160

In this work a new algorithm for quaternion-based spatial rotation is presented which reduces the number of underlying real multiplications. The performing of a quaternion-based rotation using a rotation matrix takes 15 ordinary multiplications, 6 trivial multiplications by 2 (left-shifts), 21 additions, and 4 squarings of real numbers, while the proposed algorithm can compute the same result in only 14 real multiplications (or multipliers—in a hardware implementation case), 43 additions, 4 right-shifts (multiplications by 1/4), and 3 left-shifts (multiplications by 2).