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The need to represent rotations of objects in 3-D Euclidean space arises daily in many fields: animation, computer vision, and physics, to name a few. Ever since Euler first described his eponymous angles, without giving a tractable method for constructing them, mathematicians have longed for a better system to describe rotations. In 1843, William Rowan Hamilton had an epiphany whilst walking across Brougham Bridge in Dublin with his wife. Therein he inscribed the laws defining the quaternions, forever changing the face of rotations. The quaternions, when limited to having unit norm, form a group under multiplication which is isomorphic to SU(2). This presentation will discuss the interplay between these two groups and will clarify the use of quaternions to represent rotations. We will delve into the relationship between SU(2) and SO(3). |