| 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.
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