[step:Recover the join coordinates from a point of the target sphere]
We prove that $\Phi$ is bijective. Let $(u,v) \in S^{a+b+1} \subset \mathbb{R}^{a+1}\times\mathbb{R}^{b+1}$. Define
\begin{align*}
t = |v|^2.
\end{align*}
Since $|u|^2+|v|^2=1$, we also have $1-t=|u|^2$.
If $0<t<1$, define
\begin{align*}
x = \frac{u}{|u|} \in S^a
\end{align*}
and
\begin{align*}
y = \frac{v}{|v|} \in S^b.
\end{align*}
Then
\begin{align*}
\Phi([x,y,t]) = \left(\sqrt{1-t}\,\frac{u}{|u|},\sqrt{t}\,\frac{v}{|v|}\right) = (u,v),
\end{align*}
because $\sqrt{1-t}=|u|$ and $\sqrt{t}=|v|$.
If $t=0$, then $|v|=0$, so $v=0$ and $|u|=1$. For any fixed $y_0 \in S^b$, we have
\begin{align*}
\Phi([u,y_0,0]) = (u,0) = (u,v).
\end{align*}
If $t=1$, then $|u|=0$, so $u=0$ and $|v|=1$. For any fixed $x_0 \in S^a$, we have
\begin{align*}
\Phi([x_0,v,1]) = (0,v) = (u,v).
\end{align*}
Thus $\Phi$ is surjective.
For injectivity, suppose
\begin{align*}
\Phi([x,y,t]) = \Phi([x',y',t']).
\end{align*}
Taking squared Euclidean norms in the second coordinate gives $t=t'$. If $0<t<1$, then both coordinate coefficients are positive, so
\begin{align*}
\sqrt{1-t}\,x = \sqrt{1-t}\,x'
\end{align*}
and
\begin{align*}
\sqrt{t}\,y = \sqrt{t}\,y',
\end{align*}
hence $x=x'$ and $y=y'$. Therefore $[x,y,t]=[x',y',t']$. If $t=0$, the equality of first coordinates gives $x=x'$, and the join relation identifies all choices of $y$ over the same $x$ at $t=0$. Hence $[x,y,0]=[x',y',0]$. If $t=1$, the equality of second coordinates gives $y=y'$, and the join relation identifies all choices of $x$ over the same $y$ at $t=1$. Hence $[x,y,1]=[x',y',1]$. Thus $\Phi$ is injective.
[/step]