$(x,y)$ points extrapolation

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My process is generating $x,y$ points. The points are result of tracking movement of an object so its a bit inertial. The tracked object can't change direction rapidly. I need to extrapolate data between 2 points. I have an advantage that I know points before missing points and after missing points. There is a picture for a better understanding. Dotted line need to be extrapolated and I know how many points are missing. enter image description here