Logarithm-Based Methods for Interpolating Quaternion Time Series

Abstract

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