The Quaternions and the Spaces S3, SU(2), SO(3), and ℝ ℙ3

  • Jean Gallier
Part of the Texts in Applied Mathematics book series (TAM, volume 38)


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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© Springer Science+Businees Media, LLC 2011

Authors and Affiliations

  1. 1.Department of Computer and Information ScienceUniversity of PennsylvaniaPhiladelphiaUSA

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