Hey, I'm the author of this post.

Quaternions and SLERP are absolutely a fundamental part of 3D vision (and game development too). However, I wanted to focus this post mainly on the question "why is optimizing on the unit sphere difficult?" As the post stands, it's already quite verbose.

Maybe I'll find some time to do a deep dive on common Lie Groups used in computer vision e.g. SO(3), SE(3) and Sim(3) and also the common representations used for those groups.

> Maybe I'll find some time to do a deep dive on common Lie Groups used in computer vision e.g. SO(3), SE(3) and Sim(3) and also the common representations used for those groups.

+1

Also, great article!

I'd love such an article.

I wish someone had told me about these computer vision applications of Lie groups when I was writing my dissertation on Lie groups, but better late than never!