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並前往http://www.cad-journal.net/files/vol_9/CAD_9(5)_2012_679-690.pdf

Computing Rotation Minimizing Frames using Quaternions

compute rotation minimizing frames (RMF) using quaternions. Keywords: 3D curves, Frenet frames, rotation minimizing frames. DOI: 10.3722/cadaps.2012.679-690.

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