Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

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

Engineering, Geometry, Best Rotation +18

Animating rotation with quaternion curves

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

Geometric Modeling, Robotics, Geometry +14

Lie-group methods

Arieh Iserles, Hans Munthe–Kaas, Syvert P. Nørsett et al. · Acta Numerica · 2000 · 765 citations

Numerical Analysis, Lie Group, Numerical Computation +6

ELEMENTS OF QUATERNIONS

Alexandre Hardy, Alex S. Christie · Science · 1881 · 569 citations · Full text

High order Runge-Kutta methods on manifolds

Hans Munthe–Kaas · Applied Numerical Mathematics · 1999 · 267 citations

Numerical Analysis, Numerical Method For Partial Differential Equation, Numerical Computation +1