Logarithm-Based Methods for Interpolating Quaternion Time Series

In this paper, we discuss a modified quaternion interpolation method based on interpolations performed the logarithmic form. This builds prior work that demonstrated approach maintains C2 continuity for prescriptive rotation. However, develop and extend to descriptive interpolation, i.e., interpolating an arbitrary time series. To accomplish this, provide robust of taking logarithm series such variables θ n^ have consistent continuous axis-angle representation. We then demonstrate how out-performs Renormalized Quaternion Bezier by orders magnitude.