SMOOTH INVARIANT INTERPOLATION OF ROTATIONS

Authors
PARK FC RAVANI B
Citation
Fc. Park et B. Ravani, SMOOTH INVARIANT INTERPOLATION OF ROTATIONS, ACM transactions on graphics, 16(3), 1997, pp. 277-295
Citations number
15
Categorie Soggetti
Computer Sciences, Special Topics","Computer Science Software Graphycs Programming
Journal title
ACM transactions on graphics → ACNP
ISSN journal
07300301
Volume
16
Issue
3
Year of publication
1997
Pages
277 - 295
Database
ISI
SICI code
0730-0301(1997)16:3<277:SIIOR>2.0.ZU;2-Y
Abstract
We present an algorithm for generating a twice-differentiable curve on the rotation group SO(3) that interpolates a given ordered set of rot ation matrices at their specified knot times. In our approach we regar d SO(3) as a Lie group with a bi-invariant Riemannian metric, and appl y the coordinate-invariant methods of Riemannian geometry. The resulti ng rotation curve is easy to compute, invariant with respect to fixed and moving reference frames, and also approximately minimizes angular acceleration.