A General Homogeneous Matrix Formulation to 3D Rotation Geometric   Transformations
  We present algebraic projective geometry definitions of 3D rotations so as to bridge a small gap between the applications and the definitions of 3D rotations in homogeneous matrix form. A general homogeneous matrix formulation to 3D rotation geometric transformations is proposed which suits for the cases when the rotation axis is unnecessarily through the coordinate system origin given their rotation axes and rotation angles.   General three-dimensional rotation formula~\eqref{eqn:3D homogeneous roation} and~\eqref{eqn:3D rotation matrix vector Euclidean} similar to the Euler-Rodrigues formula were presented. The matrix-vector form of 3D rotation in Euclidean space is especially suited for numerical applications where gimbal lock is a concern.} 
Feng Lu and Ziqiang Chen
cs.CV