A Fast Algorithm for Quaternion-Based 4D Rotation

摘要

In this work, a fast algorithm for quaternion-based 4D rotation is presented which reduces the number of underlying real multiplications. Performing a quaternion-based rotation using rotation matrix takes 32 multiplications and 60 additions of real numbers while the proposed algorithm can compute the same result in only 16 real multiplications (or multipliers - in hardware implementation case) and 56 additions.