The Quaternions and the Spaces S 3 , SU(2), SO(3), and ℝ ℙ 3

@inproceedings{Gallier2011TheQA,
  title={The Quaternions and the Spaces S 3 , SU(2), SO(3), and ℝ ℙ 3},
  author={Jean H. Gallier},
  year={2011}
}
In this chapter, we discuss the representation of rotations of ℝ3 in terms of quaternions. Such a representation is not only concise and elegant, it also yields a very efficient way of handling composition of rotations. It also tends to be numerically more stable than the representation in terms of orthogonal matrices. 

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