diff --git a/tf/transform.py b/tf/transform.py
index 539c9f7..33d71bc 100644
--- a/tf/transform.py
+++ b/tf/transform.py
@@ -105,6 +105,39 @@ def roll(self) -> float:
         """物体绕 X 轴旋转的欧拉角, 单位度, 由变换矩阵计算得到"""
         return np.rad2deg(np.arctan2(self.matrix[2, 1], self.matrix[2, 2])).item()
 
+    @property
+    def quaternion(self) -> np.ndarray:
+        """物体的四元数表示, 4x1 的矩阵"""
+        m = self.matrix[:3, :3]
+        trace = np.trace(m)
+        if trace > 0:
+            s = 0.5 / np.sqrt(trace + 1.0)
+            qw = 0.25 / s
+            qx = (m[2, 1] - m[1, 2]) * s
+            qy = (m[0, 2] - m[2, 0]) * s
+            qz = (m[1, 0] - m[0, 1]) * s
+        else:
+            if m[0, 0] > m[1, 1] and m[0, 0] > m[2, 2]:
+                s = 2.0 * np.sqrt(1.0 + m[0, 0] - m[1, 1] - m[2, 2])
+                qw = (m[2, 1] - m[1, 2]) / s
+                qx = 0.25 * s
+                qy = (m[0, 1] + m[1, 0]) / s
+                qz = (m[0, 2] + m[2, 0]) / s
+            elif m[1, 1] > m[2, 2]:
+                s = 2.0 * np.sqrt(1.0 + m[1, 1] - m[0, 0] - m[2, 2])
+                qw = (m[0, 2] - m[2, 0]) / s
+                qx = (m[0, 1] + m[1, 0]) / s
+                qy = 0.25 * s
+                qz = (m[1, 2] + m[2, 1]) / s
+            else:
+                s = 2.0 * np.sqrt(1.0 + m[2, 2] - m[0, 0] - m[1, 1])
+                qw = (m[1, 0] - m[0, 1]) / s
+                qx = (m[0, 2] + m[2, 0]) / s
+                qy = (m[1, 2] + m[2, 1]) / s
+                qz = 0.25 * s
+
+        return np.array([qw, qx, qy, qz])
+
     @classmethod
     def from_carla_transform_obj(cls, transform: carla.Transform) -> 'Transform':
         """从 CARLA 的变换对象创建 Transform 实例.