Uniform B-spline curve interpolation with prescribed tangent and curvature vectors

Shoichi Okaniwa*, Ahmad Nasri, Hongwei Lin, Abdulwahed Abbas, Yuki Kineri, Takashi Maekawa

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)


This paper presents a geometric algorithm for the generation of uniform cubic B-spline curves interpolating a sequence of data points under tangent and curvature vectors constraints. To satisfy these constraints, knot insertion is used to generate additional control points which are progressively repositioned using corresponding geometric rules. Compared to existing schemes, our approach is capable of handling plane as well as space curves, has local control, and avoids the solution of the typical linear system. The effectiveness of the proposed algorithm is illustrated through several comparative examples. Applications of the method in NC machining and shape design are also outlined.

Original languageEnglish
Article number6035703
Pages (from-to)1474-1487
Number of pages14
JournalIEEE Transactions on Visualization and Computer Graphics
Issue number9
Publication statusPublished - 2012
Externally publishedYes


  • B-spline curve
  • curvature vector
  • interpolation
  • parametric curve
  • tangent

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Computer Graphics and Computer-Aided Design


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