Curvas de Bézier

The Bernstein Basis
and Bezier Curves
Dr. Scott Schaefer
1
Problems with Interpolation
2/108
Problems with Interpolation
3/108
Bezier Curves
 Polynomial curves that seek to approximate
rather than to interpolate
4/108
Bernstein Polynomials
 Degree 1: (1-t), t
 Degree 2: (1-t)2, 2(1-t)t, t2
 Degree 3: (1-t)3, 3(1-t)2t, 3(1-t)t2, t3
5/108
 Degree 2: (1-t)2, 2(1-t)t, t2
 Degree 3: (1-t)3, 3(1-t)2t, 3(1-t)t2, t3
 Degree 4: (1-t)4, 4(1-t)3t, 6(1-t)2t2, 4(1-t)t3,t4
6/108
 Degree 2: (1-t)2, 2(1-t)t, t2
 Degree 3: (1-t)3, 3(1-t)2t, 3(1-t)t2, t3
 Degree 4: (1-t)4, 4(1-t)3t, 6(1-t)2t2, 4(1-t)t3,t4
 Degree 5: (1-t)5, 5(1-t)4t, 10(1-t)3t2, 10(1-t)2t3
,5(1-t)t4,t5
…
n n i i
 Degree n:    (1  t ) t for 0  i  n
  i
7/108
Properties of Bernstein Polynomials
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
8/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1] 1 t  0
1  (1  t )  0
9/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
10/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 n  n i i
n
Binomial Theorem: (a  b)    a b
n
i 0  i 
11/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 n  n i i
n
n
i 0  i 
n n
n

i 0
Bi
n
(t )   
i
i 0  
(1  t ) n i i
t
12/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 n  n i i
n
n
i 0  i 
 i (t )  (1  t )  t 
n n
B
i 0
13/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 n  n i i
n
n
i 0  i 
 i (t )  1
B n
i 0
14/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 max Bi
n
(t )  B n i
i (n)
t[ 0,1]
15/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 max Bi
n
(t )  B n i
i (n)
t[ 0,1]
 n
Bin ( t )
t  
   i(1  t ) n i t i 1  (n  i)(1  t ) ni 1 t i  0
i
16/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 max Bi
n
(t )  B n i
i (n)
t[ 0,1]
Bin ( t )  n
t   (i  nt )(1  t ) n i 1 t i 1  0
i
17/108
n
B (t )   (1  t ) n i t i
i
n
i
 1  Bi (t )  0
n
t  [0,1]
n
  i (t )  1
n
B
i 0
 max Bi
n
(t )  B n i
i (n)
t[ 0,1]
t i
n
18/108
More Properties of
n 1 n 1
 i
B n
(t )  (1  t ) Bi (t )  tBi 1 (t )
19/108
More Properties of
n 1 n 1
 i
B n
(t )  (1  t ) Bi (t )  tBi 1 (t )
n  i  
 
 t j
   j
  j  n B n
i (t )
i 0
  
20/108
More Properties of
n 1 n 1
 i
B n
(t )  (1  t ) Bi (t )  tBi 1 (t )
n   i  
 
 t j
   j
  j  n B n
i (t )
i 0
  
j i  n  j  j
n
 Bi (t )   (1)   t
n
j 0  j  i 
21/108
More Properties of
n 1 n 1
 i
B n
(t )  (1  t ) Bi (t )  tBi 1 (t )
  i  
n
 
 t j
   j
  j  n B n
i (t )
i 0
  
j i  n  j  j
n
 Bi (t )   (1)   t
n
j 0  j  i 
1
1
  B (t )dt 
n
n 1
i
0
22/108
0  Bin (t )  1 t  [0,1]
23/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi1 (t )  1
24/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi (t )  1
1
0  (1  t )  1 0  t 1
25/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi (t )  1
1
0  (1  t )  1 0  t 1
 Inductive Step: Assume 0  Bin1 (t )  1 t  [0,1]
26/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi (t )  1
1
0  (1  t )  1 0  t 1

Bin (t )  (1  t ) Bin 1 (t )  tBin11 (t )
27/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi (t )  1
1
0  (1  t )  1 0  t 1

Bin (t )  (1  t ) Bin 1 (t )  tBin11 (t )
0  (1  t ) Bin 1 (t )  tBin11 (t )  1
28/108
0  Bin (t )  1 t  [0,1]
 Base case: n  1 0  Bi (t )  1
1
0  (1  t )  1 0  t 1

Bin (t )  (1  t ) Bin 1 (t )  tBin11 (t )
0  (1  t ) Bin 1 (t )  tBin11 (t )  1
0  Bin (t )  1
29/108
Bezier Curves
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
30/108
Bezier Curves
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
p(t )  (1  t )3 (0,0)  3(1  t ) 2 t (1,0)  3(1  t )t 2 (1,1)  t 3 (0,1)
31/108
Bezier Curves
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
p(t )  (3(1  t )t , (3  2t )t 2 )
32/108
Bezier Curve Properties
 Interpolate end-points
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
33/108
n
 n
p(0)    (1  0) n i 0i pi  p0
i 0  i 
34/108
n
n
p(1)    (1  1) n i 1i pi  pn
i 0  i 
35/108
n
n
p(1)    (1  1) n i 1i pi  pn
i 0  i 
36/108
 Tangent at end-points in direction of first/last
edge
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
37/108
edge
p(t )  n  n  n
 
n
   (1  t ) t pi     pi i(1  t ) n i t i 1  (n  i )(1  t ) n i 1 t i
n i i
t t i 0  i  i 0  i 
38/108
edge
p(t )  n  n  n
 
n
n i i
t t i 0  i  i 0  i 
p(t ) n  n   
   
n 1 n
    pi i(1  t ) t     pi (n  i )(1  t ) n i 1 t i
n i i 1
t i 1  i  i 0  i 
39/108
edge
p(t )  n  n  n
 
n
n i i
t t i 0  i  i 0  i 
p(t ) n  n   
   
n 1 n
    pi i(1  t ) t     pi (n  i )(1  t ) n i 1 t i
n i i 1
t i 1  i  i 0  i 
p (t ) n n1
  n pi Bin11 (t )   n pi Bin1 (t )
t i1 i0
40/108
edge
p(t )  n  n  n
 
n
n i i
t t i 0  i  i 0  i 
p(t ) n  n   
   
n 1 n
    pi i(1  t ) t     pi (n  i )(1  t ) n i 1 t i
n i i 1
t i 1  i  i 0  i 
p (t ) n n1
  n pi Bin11 (t )   n pi Bin1 (t )
t i1 i0
p(t ) n1 n1 n1

  n pi1 Bin1 (t )   n pi Bin1 (t )   n( pi1  pi ) Bin1 (t )
t i0 i0 i0 41/108
edge
p(t )  n  n  n
 
n
n i i
t t i 0  i  i 0  i 
p(t ) n  n   
   
n 1 n
    pi i(1  t ) t     pi (n  i )(1  t ) n i 1 t i
n i i 1
t i 1  i  i 0  i 
p (t ) n n1 Another Bezier curve of vectors!!!

  n pi Bi1 (t )   n pi Bi (t )
n1 n1
t i1 i0
p(t ) n1 n1 n1

  n pi1 Bin1 (t )   n pi Bin1 (t )   n( pi1  pi ) Bin1 (t )
t i0 i0 i0 42/108
edge
p (0)
 n( p1  p0 )
t
p (1)
 n( pn  pn 1 )
t
43/108
edge
 Curve lies within the convex hull of the
control points
44/108
edge
 Curve lies within the convex hull of the
control points Bezier Lagrange
45/108
Matrix Form of Bezier Curves
n
p (t )   Bin (t ) pi
i 0
46/108
n
p (t )   Bin (t ) pi
i 0
 B0n (t ) 
 
p (t )   p0  pn   
 B n (t ) 
 n 
47/108
n
p (t )   Bin (t ) pi
i 0
 m00  m0 n  1 
  
p(t )   p0  pn       
m   t n 
 n0 mnn  
 n  j 
j i
mij  (1)   
 j  i 
48/108
n
p (t )   Bin (t ) pi
i 0
 m00  m0 n  1 
  
p(t )   p0  pn       
m   t n 
 n0 mnn  
 1  3 3 1
 
0 3  6 3 
M 
0 0 3  3
 
0 0 
 0 1 
49/108
n
p (t )   Bin (t ) pi
i 0
 m00  m0 n  1 
  
p(t )   p0  pn       
m   t n 
 n0 mnn  
Computation in monomial
basis is unstable!!! 1  3 3 1
 
0 3  6 3 
M  
Most proofs/computations  0 0 3  3

0 0 
are easier in Bernstein  0 1 
basis!!!
50/108
Change of Basis
 n 313 n 13
3
 n 1
2
2 n 1 2
2
 n 1
2
2 n 1 2
2
 n 111
n 11
1
 n 111 n 11
1
 n 111 n 11
1
p0 p1 p2 p3
Bezier coefficients
51/108
Change of Basis
Coefficients in
monomial basis!!!
 n 313 n 13
3
n 1 j
j
 n 1
2
2 n 1 2
2
 n 1
2
2 n 1 2
2
 n 111
n 11
1
 n 111 n 11
1
 n 111 n 11
1
p0 p1 p2 p3
Bezier coefficients
52/108
Change of Basis
n n
 i  i (t ) pi
t i
i 0
a  B
i 0
n
53/108
Change of Basis
n n
 i  i (t ) pi
t i
i 0
a  B n
i 0
 1   m00  m0 n  1 
    
a0  a n      p0  p n       
 t n1  m   t n 1 
   n0 mnn  
54/108
Change of Basis
n n
 i  i (t ) pi
t i
i 0
a  B n
i 0
 m00  m0 n 
 
a0  a n    p0  p n     
m  
 n0 mnn 
55/108
Change of Basis
n n
 i  i (t ) pi
t i
i 0
a  B
i 0
n
1
 m00  m0 n 
 
a0  a n        p0  p n 
m  
 n0 mnn 
56/108
Change of Basis
1
1 n 11
1 2
1 n 11 1 n 1 2
1 2 3
1 n 11 1 n 1 2 1 n 13
a0 a1 a2 a3
monomial coefficients
57/108
Change of Basis
Coefficients in Bezier
basis!!!
1
1 n 11
j
n 1 j
1 2
1 n 11 1 n 1 2
1 2 3
1 n 11 1 n 1 2 1 n 13
a0 a1 a2 a3
monomial coefficients
58/108
Degree Elevation
 Power basis is trivial: add 0 tn+1
 What about Bezier basis?
n n 1
 i i
p B
i 0
n
(t )   j j (t )
ˆ
p
j 0
B n 1
59/108
Degree Elevation
n n 1
 i i
p B
i 0
n
(t )   j j (t )
ˆ
p B
j 0
n 1
n n
 i i
p B
i 0
n
(t )   ((1
i 0
 t ) pi  t pi ) B n
i (t )
60/108
Degree Elevation
n n 1
 i i
p B
i 0
n
(t )   j j (t )
ˆ
p B n 1
j 0
n n
 i i
p B
i 0
n
(t )   ((1
i 0
 t ) pi  t pi ) B n
i (t )
n n
  pi n 1i
n 1 Bin 1 (t )   pi i 1
n 1 Bin11 (t )
i 0 i 0
61/108
Degree Elevation
n n 1
 i i
p B
i 0
n
(t )   j j (t )
ˆ
p B n 1
j 0
n n
 i i
p B
i 0
n
(t )   ((1
i 0
 t ) pi  t pi ) B n
i (t )
n n
  pi n 1i
n 1 Bin 1 (t )   pi i 1
n 1 Bin11 (t )
i 0 i 0
n 1 n 1
  pi n 1i
n 1 Bin 1 (t )   pi 1 n i 1 Bin 1 (t )
i 0 i 0
62/108
Degree Elevation
n n 1
 i i
p B
i 0
n
(t )   j j (t )
ˆ
p B n 1
j 0
n n
 i i
p B
i 0
n
(t )   ((1
i 0
 t ) pi  t pi ) B n
i (t )
n n
  pi n 1i
n 1 Bin 1 (t )   pi i 1
n 1 Bin11 (t )
i 0 i 0
n 1 n 1
  pi n 1i
n 1 Bin 1 (t )   pi 1 n i 1 Bin 1 (t )
i 0 i 0
n 1
   pi 1  n i 1   pi 1 n i 1 Bin 1 (t )
i 0
63/108
Degree Elevation
64/108
Degree Elevation
65/108
Degree Elevation
3
4
1
4
66/108
Degree Elevation
1 1
2 2
67/108
Degree Elevation
3
4
1
4
68/108
Degree Elevation
69/108
Degree Elevation
70/108
Pyramid Algorithms for
Bezier Curves
 Polynomials aren’t pretty
 Is there an easier way to evaluate the
equation of a Bezier curve?
n
n
p(t )    (1  t ) ni t i pi
i 0  i 
71/108
Bezier Curves
(1  t ) p0  t p1 (1  t ) p1  t p2 (1  t ) p2  t p3
1 t t 1 t t 1 t t
p0 p1 p2 p3
72/108
Bezier Curves
(1  t ) 2 p0  2(1  t )t p1  t 2 p2 (1  t ) 2 p1  2(1  t )t p2  t 2 p3
1 t t 1 t t
1 t t 1 t t 1 t t
p0 p1 p2 p3
73/108
Bezier Curves
(1  t )3 p0  3(1  t ) 2 t p1  3(1  t )t 2 p2  t 3 p3
1 t t
1 t t 1 t t
1 t t 1 t t 1 t t
p0 p1 p2 p3
74/108
Derivatives of Bezier Curves
p ' (t )
1 t t
Take derivative of any
level of pyramid!!!
1 t t 1 t t (up to constant multiple)
1 1 1 1 1 1
p0 p1 p2 p3
75/108
Derivatives of Bezier Curves
p ' (t )
1 1
Take derivative of any
level of pyramid!!!
1 t t 1 t t (up to constant multiple)
1 t t 1 t t 1 t t
p0 p1 p2 p3
76/108
Subdividing Bezier Curves
 Given a single Bezier curve, construct two
smaller Bezier curves whose union is exactly
the original curve
77/108
the original curve
78/108
the original curve
79/108
the original curve
80/108
the original curve
81/108
Control points for 1 t t

left curve!!!
1 t t 1 t t
1 t t 1 t t 1 t t
p0 p1 p2 p3
82/108
1 t t Control points for

right curve!!!
1 t t 1 t t
1 t t 1 t t 1 t t
p0 p1 p2 p3
83/108
1
8 p0  3 8 p1  3 8 p2  18 p3
1 1
2 2
1
4 p0  1 2 p1  1 4 p2 1
4 p1  1 2 p2  1 4 p3
1 1 1 1
2 2 2 2
1
2 p0  1 2 p1 1
2 p1  12 p2 1
2 p2  1 2 p3
1 1 1 1 1 1
2 2 2 2 2 2
p0 p1 p2 p3
84/108
Variation Diminishing
 Intuitively means that the curve “wiggles” no
more than its control polygon
85/108
Lagrange Interpolation
86/108
Bezier Curve
87/108
 For any line, the number of intersections with
the control polygon is greater than or equal to
the number of intersections with the curve
Bezier Curve
88/108
Bezier Curve
89/108
Bezier Curve
90/108
Bezier Curve
91/108
Bezier Curve
92/108
Lagrange Interpolation
93/108
Applications: Intersection
 Given two Bezier curves, determine if and
where they intersect
94/108
 Check if convex hulls intersect
 If not, return no intersection
 If both convex hulls can be approximated
with a straight line, intersect lines and return
intersection
 Otherwise subdivide and recur on subdivided
pieces
95/108
96/108
97/108
98/108
99/108
100/108
101/108
102/108
103/108
104/108
105/108
106/108
Application: Font Rendering
107/108
Application: Font Rendering
108/108

Curvas de Bézier

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Curvas de Bézier

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The Bernstein Basis

and Bezier Curves

Dr. Scott Schaefer

 Base case: n  1 0  Bi1 (t )  1

 Inductive Step: Assume 0  Bin1 (t )  1 t  [0,1]

 Inductive Step: Assume 0  Bin1 (t )  1 t  [0,1]

 Inductive Step: Assume 0  Bin1 (t )  1 t  [0,1]

 Inductive Step: Assume 0  Bin1 (t )  1 t  [0,1]

p(t )  (1  t )3 (0,0)  3(1  t ) 2 t (1,0)  3(1  t )t 2 (1,1)  t 3 (0,1)

p(t ) n1 n1 n1

p (t ) n n1 Another Bezier curve of vectors!!!

p(t ) n1 n1 n1

Control points for 1 t t

1 t t Control points for

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