2FUNDA J, TAYLOR R H. Or homogeneous transforms, quaternions and computational efficiency [ J ]. IEEE Transactions on Robotics and Automation, 1990, 6(3) : 382 - 388. 被引量：1
3GALLIER J. Geometric metltods and applications: for computer science and engineering [ M ]. 2nd Edition. New York : Springer Verlag, 2011 : 281 - 300. 被引量：1
5NAM K W, KIM M S. Hermile interpolation of solid ori- entations based on a smooth blending of two great circu- lar arcs on SO (3) [ C ]//Computer Graphics : Develop- ment in Virtual Enviroments. 1Leeds, UK: [ s. n. ], 1995:171 - 183. 被引量：1
6DAM E B, KOCH M, LILLHOLM M. Quaternions, In- terpolation and Animation [ R ]. [ S. 1. ] : University of Copenhagen, 1998. 被引量：1
7PLETINCKX D. Quaternion calculus as a basic tool in computer graphics [ J]. Visual Computer, 1989,5 ( 1 ) : 2 -13. 被引量：1
8KIM M S, NAM K W. Interpolating solid orientations with circular blending quaternion curve [ J ]. Computer- Aided Design, 1995,27 (5) :385 - 398. 被引量：1
