A two-step algorithm of smooth spline generation on Riemannian manifolds (Q2496257)

The authors propose an algorithm providing a simple geometric method of finding interpolating curves on Riemannian manifolds, with any prescribed degree of smoothness. The algorithm requires the computation of three geodesics only to generate each spline segment and the authors claim that such a low complexity is particularly important for non-Euclidean spaces, like rotation groups. Moreover with appropriate choices of the boundary conditions on the smoothing function one can ensure the required smoothness of the whole spline without further charges in the algorithm. The algorithm is then extended to other complete Riemannian manifolds, namely to matrix Lie groups and spheres.