Convergence and C1 analysis of subdivision schemes on manifolds by proximity

Curve subdivision schemes on manifolds and in Lie groups are constructed from linear subdivision schemes by first representing the rules of affinely invariant linear schemes in terms of repeated affine averages, and then replacing the operation of affine average either by a geodesic average (in the Riemannian sense or in a certain Lie group sense), or by projection of the affine averages onto a surface. The analysis of these schemes is based on their proximity to the linear schemes which they are derived from. We verify that a linear scheme S and its analogous nonlinear scheme T satisfy a proximity condition. We further show that the proximity condition implies the convergence of T and continuity of its limit curves, if S has the same property, and if the distances of consecutive points of the initial control polygon are small enough. Moreover, if S satisfies a smoothness condition which is sufficient for its limit curves to be C1, and if T is convergent, then the curves generated by T are also C1. Similar analysis of C2 smoothness is postponed to a forthcoming paper.