Open Access Senior Thesis
Bachelor of Science
Consider the problem of designing the path of a camera in 3D. As we may identify each camera position with a member of the Euclidean motions, SE(3), the problem may be recast mathematically as constructing interpolating curves on the (non-Euclidean) space SE(3). There exist many ways to formulate this problem, and indeed many solutions. In this thesis we shall examine solutions based on simple geometric constructions, with the goal of discovering well behaved and computable solutions. In affine spaces there exist elegant solutions to the problem of curve design, which are collectively known as the techniques of Computer Aided Geometric Design (CAGD). The approach of this thesis will be the generalization of these methods and an examination of computation on matrix Lie groups. In particular, the Lie groups SO(3) and SE(3) will be examined in some detail.
Richardson, Ross Monet, "Designing Smooth Motions of Rigid Objects: Computing Curves in Lie Groups" (2003). HMC Senior Theses. 153.