New product-of-exponentials spline algorithms on Lie groups, including a global spline that exactly reconstructs polynomial motions, derived from Poisson-equation approximations.
In: Mathematical Methods for Curves and Surfaces: 7th International Conference, MMCS 2008, Tønsberg, Norway, June 26-July 1, 2008, Revised Selected Papers 7, pp
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Product Of Exponentials (POE) Splines on Lie-Groups: Limitations, Extensions, and Application to SO(3) and SE(3)
New product-of-exponentials spline algorithms on Lie groups, including a global spline that exactly reconstructs polynomial motions, derived from Poisson-equation approximations.