摄影测量中英互译.docVIP

Quaternions And Rotation Sequences JACK B. KUIPERS Department of Mathematics, Calvin College Grand Rapids, MI 49546, USA Abstract. In this paper we introduce and define the quaternion; we give a brief introduction to its properties and algebra, and we show, what appears to be, its primary application一the quaternion rotation operator.The quaternion rotation operator competes with the conventional matrix rotation operator in a variety of rotation sequences. 1.Introduction The 1950s post World War II period was a time in world history when large nations were again driven by Minds of Fear一fe