Dual Quaternions and Their Associated Clifford Algebras

Clifford algebra for dual quaternions has emerged recently as an alternative to standard matrix algebra as a computational framework for computer graphics. This book presents dual quaternions and their associated Clifford algebras in a new light, accessible to and geared toward the computer graphics community.

Collecting all the associated formulas and theorems in one place, this book provides an extensive and rigorous treatment of dual quaternions, as well as showing how two models of Cliff...