RISAT

We propose RISAT, a lightweight and efficient algorithm for interpolating sequences of orientations. RISAT operates on rotation vectors, which are first transformed into a local coordinate frame. The method then applies cubic Hermite interpolation to each component of the local rotation vectors, yielding smooth trajectories with continuous first derivatives. Despite its conceptual simplicity, RISAT matches the accuracy of state-of-the-art rotation interpolation techniques, while requiring roughly half their computational cost. This makes RISAT particularly suitable for real-time applications, including deployment on embedded devices.