On the efficient simulation of a particular class of random rotations relevant to computer graphics

This article deals with the simulation of random rotations. Unlike various predecessors it does not only provide an algorithm to simulate the equidistribution but a universal algorithm for a whole class of probability measures on SO(3) which is of particular interest for applications in the field of computer graphics. Moreover, this class forms a subsemigroup of the convolution semigroup of all probability measures on SO(3) which enables an efficient simulation and computation of convolution products within this class.