"Determining 3D Motion Paramters of a Rigid Body: A Vector Geometrical Approach:
B Yen

cover of book, which was the ACM SIGGRAPH/SIGART Conference on Motion/Graphics/Control

use of Unit Sphere geometrical model

• cover
• copyright/ISBN
• Table of Contents/1
• Table of Contents/2
• Table of Contents/3
• Page 1
• Page 2
• Page 3
• Page 4
• Page 5
• Page 6
• Page 7
• Page 8
• Page 9
• Page 10
• Page 11
• Page 12
• Page 13

Here are some useful references:

• main reference: Vector Analysis/Schaum's Outline Series
• Quaternions: Quaternions/P.G. Tait
• Russian texts on Linear Algebra very useful: Linear Algebra & Multi-Dimensional Geometry/Efimov & Rozendorn