Curve Subdivision in SE(2)

Authors: Jan Hakenberg

We demonstrate that curve subdivision in the special Euclidean group SE(2) allows the design of planar curves with favorable curvature. We state the non-linear formula to position a point along a geodesic in SE(2). Curve subdivision in the Lie group consists of trigonometric functions. When projected to the plane, the refinement method reproduces circles and straight lines. The limit curves are designed by intuitive placement of control points in SE(2).

Comments: 6 Pages.

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Submission history

[v1] 2018-07-26 06:25:03

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