@article {17946,
	title = {Double quaternions for motion interpolation},
	journal = {Proceedings of the ASME Design Engineering Technical Conference},
	year = {1998},
	month = {1998///},
	abstract = {This paper describes the concept of double quaternions, anextension of quaternions, and shows how they can be used for ef-
fective three-dimensional motion interpolation. Motion interpo-
lation using double quaternions has several advantages over the
method of interpolating rotation and translation independently
and then combining the results. First, double quaternions pro-
vide a conceptual framework that allows one to handle rotational
and translational components in a unified manner. Second, re-
sults obtained by using double quaternions are coordinate frame
invariant. Third, double quaternions allow a natural way to trade-
off robustness against accuracy. Fourth, double quaternions, be-
ing a straightforward extension of quaternions, can be integrated
into several existing systems that currently use quaternions with
translational components, with a only small coding effort.
},
	author = {Ge,Q. J and Varshney, Amitabh and Menon,J. P and Chang,C. F}
}
