Rational Interpolation of Rigid-Body Motions

  • J. M. Selig
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 407)


Let g 1, g 2,...,g n be a sequence of elements of a Lie group, (knot points). Our problem is to find a smooth, parameterised curve in the group that passes through these elements at parameter values t 1, t 2,...,t n . There are many variations on this basic problem. For example we could take account of velocities. Perhaps we might only require the curve to be near the knot points.


Hermite Interpolation Rigid Transformation Unit Quaternion Rational Interpolation Dual Quaternion 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • J. M. Selig
    • 1
  1. 1.Faculty of Business, Computing and Information ManagementLondon South Bank UniversityU.K.

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