Smooth invariant interpolation of rotations
ACM Transactions on GraphicsPublished 1 July 1997Open access
F. C. Park, Bahram Ravani
Citations189
SJR quartileQ1
SJR score2.96
SNIP3.06
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TL;DR
An algorithm for generating a twice-differentiable curve on the rotation group SO(3) that interpolated a given ordered set of rotation matrices at their specified knot times is presented.
Abstract
We present an algorithm for generating a twice-differentiable curve on the rotation group SO(3) that interpolated a given ordered set of rotation matrices at their specified knot times. In our approach we regard SO(3) as a Lie group with a bi-invariant Riemannian metriac, and apply the coordinate-invariant methods of Riemannian geometry. The resulting rotation curve is easy to compute, invariant with respect to fixed and moving reference frames, and also approximately minimizes angular acceleration.
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