I have a problem of linear interpolation of CRV (Conformal Rotation Vector) in which CRVs are used to parameterize the orientations. In my knowledge, in order to derive a linear interpolation of orientations, we could apply a conversion from CRV into the corresponding unit quaternion, and then a SLERP (Spherical Linear Interpolation) could be performed to interpolate linearly the orientation parametrized by CRVs. My question is: Could we derive an interpolation of quality directly using CRVs (in linear scope)? 
Interpolation of orientations
3d