Metrics for 3D Rotations: Comparison and Analysis

Closed-form solution of absolute orientation using unit quaternions

Berthold K. P. Horn · Journal of the Optical Society of America A · 1987 · 4.1K citations

Computing, Computer Science, Computational Geometry +16

Introduction to robotics: Mechanics and control

F.L. Merat · IEEE Journal on Robotics and Automation · 1987 · 2.4K citations

Engineering, Mechanical Engineering, Robotics Engineering +10

Animating rotation with quaternion curves

Ken Shoemake · ACM SIGGRAPH Computer Graphics · 1985 · 1.7K citations

Architecture, Computer Systems, 3D Modeling +16

An introduction to theoretical kinematics

Choice Reviews Online · 1990 · 644 citations

Engineering, Mathematics, Geometry +12

Distance Metrics on the Rigid-Body Motions with Applications to Mechanism Design

F. C. Park · Journal of Mechanical Design · 1995 · 273 citations

Engineering, Mathematics, Robotics Engineering +17