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Shape Modeling Lecture 8 Parametric Representation Technique II B-splines 1 Integral B-spline Curves A piecewise polynomial curve has a B-spline basis representation with properties similar to those of a Bezier curve. A B-spline curve defined on the interval [a,b] is specified by the following information. 1. The degree d (or order d + 1), so that each segment of the piecewise polynomial curve has degree d or less. 2. A sequence of m + 1 real numbers t0, t1 , ... , tm called the knot vector, and is that ti ( ti+1 (i = 0, ... , m-1), td = a and tm-d = b. The knots t0, t1 , ... , td and tm-d, tm-d+1, ... , tm are called end knots, and the knots td+1, td+2 , ... , tm-d-1 are called interior knots. 3. Control points b0, ... , bn. B-spline spline curve is defined in terms of B-spline basis functions. Definition 1 The B-spline basis functions of degree d, denoted Ni,d(t), defined by the knot vector t0, t1 , ... , tm are defined recursively as follows. Ni,0(t) = (1) Ni,d(t) = Ni,d-1(t) + Ni+1,d-1(t) (2) for i = 0, ... , n. If the knot vector contains a sufficient number of repeated knot values, then a division of the form Ni,d-1(t) /(ti+d -ti) = 0/0 (for some i) may be encountered during the execution of the recursion. Whenever this occurs, it is assumed that 0/0 = 0. Definition 2 The B-spline curve of degree d (or order d + 1) with control points b0, ... , bn and knots t0, t1 , ... , tm is defined on the interval [a, b] = [td,tm-d] by B(t) = biNi,d(t) where Ni,d(t) are the B-spline basis functions of degree d. To distinguish B-spline curves from their rational form they are often referred to as integral B-splines. Example 1 Let d = 2, and t0 = 2, t1 = 4, t2 = 5, t3 = 7, t4 = 8, t5 = 10, t6 = 11, with control points b0(1,2), b1(3,5), b2(6,2), b3(9,4). Then the k = 0 basis functions are N0,0(t) = N1,0(t) = N2,0(t) = N3,0(t) = N4,0(t) = N5,0(t) = The k = 1 basis functions are determined in terms of these N0,1(t) = N0,0(t) + N1,0(t) = N0,0(t) +