20.500.12556/RUL-181642 RISAT rotation interpolation with smooth axis transitions We propose RISAT, a lightweight and efficient algorithm for interpolating sequences of orientations. RISAT operates on rotation vectors, which are first transformed into a local coordinate frame. The method then applies cubic Hermite interpolation to each component of the local rotation vectors, yielding smooth trajectories with continuous first derivatives. Despite its conceptual simplicity, RISAT matches the accuracy of state-of-the-art rotation interpolation techniques, while requiring roughly half their computational cost. This makes RISAT particularly suitable for real-time applications, including deployment on embedded devices. embedded systems Hermite interpolation quaternion interpolation rotation vectors vgrajeni sistemi Hermitova interpolacija interpolacija kvaternionov rotacijski vektorji true false true Angleški jezik Slovenski jezik Članek v reviji 2026-04-10 12:11:24 2026-04-10 12:11:29 2026-04-13 04:41:56 0000-00-00 00:00:00 2026 0 0 Str. 51143-51149 Vol. 14 2026 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 621.3 2169-3536 10.1109/ACCESS.2026.3679824 274137091 RISAT_Rotation_Interpolation_With_Smooth_Axis_Transitions.pdf RISAT_Rotation_Interpolation_With_Smooth_Axis_Transitions.pdf 1 BEF9D9E873D831CC5AC2B55A5DD6BC6A c70d6a3e1b3801736d8ef95381043ff83a14291a9a431f50d161d2c63a682ff9 9d36e3a8-34c5-11f1-b0ab-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=232283 https://ieeexplore.ieee.org/document/11460120 1 6f40beba-34c5-11f1-b0ab-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=232282 Fakulteta za elektrotehniko 0 0 0