abanobsoliman/b-splines

In this repo you can find implementation for Cubic and Quadratic B-splines trajectory generation given poses in R(3) along with B-spline trajectory T(t) generation, of any degree (n) given increments of poses in R(3) and also SO(3) and SE(3) Lie groups.

Cumulative B-spline Continuous-time Trajectory Generation in R(3), SO(3) and SE(3) Lie groups

Citation

Are you interested to use our implementation in an academic work ! Thanks for citing the following paper:

@Article{s23010516,
AUTHOR = {Soliman, Abanob and Hadj-Abdelkader, Hicham and Bonardi, Fabien and Bouchafa, Samia and Sidibé, Désiré},
TITLE = {{MAV} Localization in Large-Scale Environments: A Decoupled Optimization/Filtering Approach},
JOURNAL = {Sensors},
VOLUME = {23},
YEAR = {2023},
NUMBER = {1},
ARTICLE-NUMBER = {516},
URL = {https://www.mdpi.com/1424-8220/23/1/516},
ISSN = {1424-8220},
DOI = {10.3390/s23010516}
}