RISAT : rotation interpolation with smooth axis transitions

Vec, Val (author), Tomažič, Sašo (author)

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.

• Language: English
• Keywords: embedded systems, Hermite interpolation, quaternion interpolation, rotation vectors
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2026
• Number of pages: Str. 51143-51149
• Numbering: Vol. 14
• PID: 20.500.12556/RUL-181642
• UDC: 621.3
• ISSN on article: 2169-3536
• DOI: 10.1109/ACCESS.2026.3679824
• COBISS.SI-ID: 274137091
• Publication date in RUL: 10.04.2026

Record is a part of a journal

• Title: IEEE access
• Publisher: Institute of Electrical and Electronics Engineers
• ISSN: 2169-3536
• COBISS.SI-ID: 519839513

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Keywords: vgrajeni sistemi, Hermitova interpolacija, interpolacija kvaternionov, rotacijski vektorji

Projects

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: P2-0246
• Name: ICT4QoL - Informacijsko komunikacijske tehnologije za kakovostno življenje