In this paper we provide a new compact formulation of rigid shape interpolation in terms of normal equations, and propose several enhancements to previous techniques. Specifically, we propose 1) a way to improve mesh independence, making the interpolation result less influenced by variations in tessellation, 2) a faster way to make the interpolation symmetric, and 3) simple modifications to enable controllable interpolation. Finally we also identify 4) a failure mode related to large rotations that is easily triggered in practical use, and we present a solution for this as well.
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Baxter et al. (2008) studied this question.
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