“…On the other side, since the group of unit quaternions is isomorphic to the group SU(2) consisting of 2 × 2 special unitary matrices, they provide us a natural way to represent spatial rotations. 1 Because of such a surprising connection, quaternions are widely applied in areas related to rigid body mechanics and quantum mechanics [21,17,4,13,30,29,34]. Quaternions are also useful for combining relating variables into a single algebraic entity that can allow them to be manipulated collectively in a natural way, e.g., representing RGB pixel values using the i, j, and k components of a single quaternion.…”