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<p><b>Abstract</b>—We present a new method for smoothly interpolating orientation matrices. It is based upon quaternions and a particular construction of ν-spline curves. The new method has tension parameters and variable knot (time) spacing which both prove to be effective in designing and controlling key frame animations.</p>
Animation, key frame, inbetweening, quaternion, splines.
Gregory M. Nielson, "ν-Quaternion Splines for the Smooth Interpolation of Orientations", IEEE Transactions on Visualization & Computer Graphics, vol. 10, no. , pp. 224-229, March/April 2004, doi:10.1109/TVCG.2004.1260774
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