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From: ph@miro.Berkeley.EDU (Paul Heckbert)
Newsgroups: comp.graphics
Subject: Re: references on quaternions
Message-ID: <28753@pasteur.Berkeley.EDU>
Date: 14 Oct 90 00:06:01 GMT
References: <ERICCO.90Oct10110149@soc1.ssl.berkeley.edu> <1990Oct11.000132.28317@morrow.stanford.edu>
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In article <ERICCO.90Oct10110149@soc1.ssl.berkeley.edu>
ericco@ssl.berkeley.edu (Eric C. Olson) asks:
>can anyone recommend a reference book on quaternions, or papers?

Here's a little bibliography of papers on quaternions and 3-D rotations.
Not listed here are references from the physics literature; dynamics
research in physics has explored 3-D rotations in considerable depth.
Check the physics literature under keywords "Cayley-Klein", "spinor",
"rotation", and "quaternion", for instance.

%A Steven A. Gabriel
%A James T. Kajiya
%T Spline Interpolation in Curved Space
%B SIGGRAPH '85 State of the Art in Image Synthesis seminar notes
%D July 1985
%K quaternion

%A W. R. Hamilton
%T Elements of Quaternions
%I Chelsea Publishing Co.
%C New York
%D 1969
%Z rotation about arbitrary axis (cited by Paul)

%A A. R. Klumpp
%T Singularity-Free Extraction of a Quaternion from a Direction Cosine Matrix
%J Journal of Spacecraft
%V 13
%N 12
%D Dec. 1976
%P 754-755
%Z (cited by Paul)

%A Richard P. Paul
%T Robot Manipulators: Mathematics, Programming, and Control
%I MIT Press
%C Cambridge, MA
%D 1981
%Y ph
%Z 3-d transformations

%A Edward Pervin
%A Jon A. Webb
%T Quaternions in Computer Vision and Robotics
%B Computer Vision and Image Processing (CVPR '83)
%D June 1983
%P 382-383
%Y ph

%A Douglas S. Richardson
%T Quaternion Algebra for Three-Dimensional Computer Graphics and Modeling
%J Australian Comp. Sci. Communications
(6th Australian Comp. Sci. Conf.)
%V 5
%N 1
%D Feb. 1983
%P 109-120
%Y ph

%A Ken Shoemake
%T Animating Rotation with Quaternion Curves
%J Computer Graphics
(SIGGRAPH '85 Proceedings)
%V 19
%N 3
%D July 1985
%P 245-254

%A D. E. Whitney
%T The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators
%J Trans. ASME, Journal of Dynamic Systems, Measurement, and Control
%D Dec. 1972
%P 303-309
%Z converting rotation matrix to angle, axis (cited by Paul)