1st Edition

Dual Quaternions and Their Associated Clifford Algebras

By Ronald Goldman Copyright 2023
    278 Pages 1 Color & 21 B/W Illustrations
    by CRC Press

    278 Pages 1 Color & 21 B/W Illustrations
    by CRC Press

    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 Clifford algebra emerge naturally from the theory of dual quaternions. Each section comes complete with a set of exercises to help readers sharpen and practice their understanding.

    This book is accessible to anyone with a basic knowledge of quaternion algebra and is of particular use to forward-thinking members of the computer graphics community.

    Part I. Dual Quaternions
    1.1. Algebras and Dual Algebras
    1.2. Algebra
    1.3. Geometry
    1.4. Rigid Motions
    1.5. Rigid Motions as Rotations in 8-Dimensions
    1.6. Screw Linear Interpolation (ScLERP)
    1.7. Perspective and Pseudo-Perspective
    1.8. Visualizing Quaternions and Dual Quaternions
    1.9. Matrices versus Dual Quaternions
    1.10. Insights
    1.11. Formulas
    Part II. Clifford Algebras for Dual Quaternions
    1. A Brief Review of Clifford Algebra
    2. The Plane Model of Clifford Algebra for Dual Quaternions
    3. The Point Model of Clifford Algebra for Dual Quaternions


    Ronald Goldman is a Professor of Computer Science at Rice University in Houston, Texas. Professor Goldman received his B.S. in Mathematics from the Massachusetts Institute of Technology in 1968 and his M.A. and Ph.D. in Mathematics from Johns Hopkins University in 1973.

    Professor Goldman’s current research concentrates on the mathematical representation, manipulation, and analysis of shape using computers. His work includes research in computer-aided geometric design, solid modeling, computer graphics, subdivision, polynomials, and splines. His most recent focus is on the uses of quaternions, dual quaternions, and Clifford algebras in computer graphics.

    Dr. Goldman has published over two hundred research articles in journals, books, and conference proceedings. He has also authored two books on computer graphics and geometric modeling: Pyramid Algorithms: A Dynamic Programming Approach to Curves and Surfaces for Geometric Modeling and An Integrated Introduction to Computer Graphics and Geometric Modeling. In addition, he has written an extended monograph on quaternions: Rethinking Quaternions: Theory and Computation.

    Dr. Goldman is currently an Associate Editor of Computer Aided Geometric Design.

    Before returning to academia, Dr. Goldman worked for ten years in industry solving problems in computer graphics, geometric modeling, and computer-aided design. He served as a Mathematician at Manufacturing Data Systems Inc., where he helped to implement one of the first industrial solid modeling systems. Later he worked as a Senior Design Engineer at Ford Motor Company, enhancing the capabilities of their corporate graphics and computer-aided design software. From Ford he moved on to Control Data Corporation, where he was a Principal Consultant for the development group devoted to computer-aided design and manufacture. His responsibilities included database design, algorithms, education, acquisitions, and research.

    Dr. Goldman left Control Data Corporation in 1987 to become an Associate Professor of Computer Science at the University of Waterloo in Ontario, Canada. He joined the faculty at Rice University in Houston,Texas as a Professor of Computer Science in July 1990.