RBF Solver for Quaternions Interpolation

TL;DR

This paper introduces an adaptation of the RBF Solver for quaternion interpolation by leveraging Lie Algebra and exponential maps, enabling efficient blending of rotations as vectors.

Contribution

It presents a novel method to apply RBF interpolation directly to quaternions using Lie Algebra, improving efficiency and simplicity.

Findings

Enables quaternion blending as vectors in R^3

Improves computational efficiency of quaternion interpolation

Facilitates smooth rotation transitions

Abstract

In this paper we adapt the RBF Solver to work with quaternions by taking advantage of their Lie Algebra and exponential map. This will allow to work with quaternions as if they were normal vectors in R^3 and blend them in a very efficient way.