@inproceedings{Barr:1992:SIO,
author = "Alan H. Barr and Bena Currin and Steven Gabriel and John F. Hughes",
title = "Smooth interpolation of orientations with angular velocity constraints using quaternions",
year = "1992",
month = jul,
booktitle = "Computer Graphics (Proceedings of SIGGRAPH 92)",
volume = "26",
number = "2",
pages = "313--320",
}