Geodesic
The geometry of spherical curves and the algebra of quaternions
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 50 (1995) no. 1, pp. 1-68

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     author = {V. I. Arnol'd},
     title = {The geometry of spherical curves and the algebra of quaternions},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
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     url = {http://geodesic.mathdoc.fr/item/RM_1995_50_1_a0/}
}
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V. I. Arnol'd. The geometry of spherical curves and the algebra of quaternions. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 50 (1995) no. 1, pp. 1-68. http://geodesic.mathdoc.fr/item/RM_1995_50_1_a0/