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Their performance is compared through simulation studies. It is shown that the linear suboptimal algorithms proposed in this article have an accuracy comparable to that of the optimal algorithms and are about five times faster. Furthermore, a particular nonlinear optimization algorithm is presented that has computational complexity similar to that of the linear optimal procedures. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090704","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:13:48Z","timestamp":1183727628000},"page":"915-931","source":"Crossref","is-referenced-by-count":6,"title":["Practical fusion algorithms for rotation matrices: A comparative study"],"prefix":"10.1002","volume":"9","author":[{"given":"Hanqi","family":"Zhuang","sequence":"first","affiliation":[]},{"given":"Zvi S.","family":"Roth","sequence":"additional","affiliation":[]},{"given":"R.","family":"Sudhakar","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"T. S.Huang S. D.Blostein andE. 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