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Abstract: Quaternion splines are a classical tool for orientation control in computer animation and robotics. In this paper, we design a rational quaternion spline with many desirable properties: it is a fully general NURBS curve of arbitrary continuity; it has a closed form algebraic description, leading to simple derivative computation; its construction is an efficient generalization of classical interpolation techniques in Euclidean space, leading to simple implementation and easy incorporation... (Update)
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BibTeX entry: (Update)
@misc{ johnstone-rational,
author = "J.K. Johnstone and J.P. Williams",
title = "A Rational Quaternion Spline of Arbitrary Continuity",
url = "citeseer.ist.psu.edu/johnstone99rational.html" }
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