Myoung-Jun Kim, Myung-Soo Kim, Sung Yong Shin. A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve. Journal of Visualization and Computer Animation, 7(1):43-57, 1996.
@article{KimKS96,
title = {A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve},
author = {Myoung-Jun Kim and Myung-Soo Kim and Sung Yong Shin},
year = {1996},
researchr = {https://researchr.org/publication/KimKS96},
cites = {0},
citedby = {0},
journal = {Journal of Visualization and Computer Animation},
volume = {7},
number = {1},
pages = {43-57},
}