Paper Info
Title
Algorithms for Manipulating Quaternions in Floating-Point Arithmetic
Abstract
Quaternions form a set of four global but not unique parameters, which can represent three-dimensional rotations in a non-singular way. They are frequently used in computer graphics, drone and aerospace vehicle control. Floating-point quaternion operations (addition, multiplication, reciprocal, norm) are often implemented “by the book”. Although all usual implementations are algebraically equivalent, their numerical behavior can be quite different. For instance, the arithmetic operations on quaternions as well as conversion algorithms to/from rotation matrices are subject to spurious under/overflow (an intermediate calculation underflows or overflows, making the computed final result irrelevant, although the exact result is in the domain of the representable numbers). The goal of this paper is to analyze and then propose workarounds and better accuracy alternatives for such algorithms.
Year
DOI
Venue
2020
10.1109/ARITH48897.2020.00016
2020 IEEE 27th Symposium on Computer Arithmetic (ARITH)
Keywords
DocType
ISSN
Floating-point arithmetic,quaternions,rounding error analysis
Conference
1063-6889
ISBN
Citations 
PageRank 
978-1-7281-7121-0
0
0.34
References 
Authors
7
2
Name
Order
Citations
PageRank
Mioara Joldeş111011.53
Jean-Michel Muller246666.61