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Visualization of SO(3) sampling grids using the axis-angle representation. The color represents the magnitude ϑ of the rotation (from blue to red). (a) Regular sampling of Euler angles (as in Eq. (9)) with B = 4, leading to (2B)3 = 512 samples; (b) Uniform distribution using Halton sequences  with 512 sampling points; (c) Uniform incremental sampling using the Hopf fibration  with 576 sampling points.
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