@misc{indiciaea0554565b735,
  title = {Deriving linear transformations in 3D using Quaternion Algebra.},
  author = {Hua Zhang and Changqian Zhu},
  doi = {10.1109/mcg.2005.38},
  url = {https://pubmed.ncbi.nlm.nih.gov/15794153/},
  note = {Source identifier: 15794153}
}