Smooth interpolation of orientations with angular velocity constraints using quaternions
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
A general construction scheme for unit quaternion curves with simple high order derivatives
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Fast construction of accurate quaternion splines
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Unit quaternion integral curve: a new type of fair free-form curves
Computer Aided Geometric Design
Spherical averages and applications to spherical splines and interpolation
ACM Transactions on Graphics (TOG)
General Construction of Time-Domain Filters for Orientation Data
IEEE Transactions on Visualization and Computer Graphics
A C/sup 2/-continuous B-spline quaternion curve interpolating a given sequence of solid orientations
CA '95 Proceedings of the Computer Animation
"-Quaternion Splines for the Smooth Interpolation of Orientations
IEEE Transactions on Visualization and Computer Graphics
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An algorithm is presented to construct a C2-continuous B-spline quaternion curve which interpolates a given sequence of unit quaternions on the rotation group SO(3). We present a method to extend a B-spline interpolation curve to SO(3). The problem is essentially to find the quaternion control points of the quaternion B-spline interpolation curve. Although the associated constraint equation is non-linear, we can get the accurate quaternion control points according to two additional rules for quaternion computations in S3. In addition, we provide a point insertion method to construct interpolation curves that have local modification property. The effectiveness of the algorithm is verified by applying it to some examples.