Fig. 1.

(a) At t = 0, without prior information, we select a random curve among the red candidate curves based on their likelihood. The thicker the curve, the higher posterior probability it has. (b) By solving the Frenet-Serret ODE, we propagate by Δs. (c) At t = 1, we calculate the prior probability for candidate curves for a smooth transition from the previous curve ${\mathbf{c}}_{p^1}^1$ shown in green. (d) Propagate to p².