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Fast Rotation Search with Stereographic Projections for 3D ..:

Parra Bustos, Alvaro ; Chin, Tat-Jun ; Eriksson, Anders..
IEEE Transactions on Pattern Analysis and Machine Intelligence.  38 (2016)  11 - p. 2227-2240 , 2016
Link: https://doi.org/10.1109/tpami.2016.2517636