@article{ageneralhomogeneousmatrixformulationto,
  title = {A General Homogeneous Matrix Formulation to 3D Rotation Geometric Transformations},
  author = {Feng Lu and Ziqiang Chen},
  year = {2014},
  eprint = {1404.6055},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1404.6055v3},
}