The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment for Camera Pose Estimation. Campbell, D., Petersson, L., Kneip, L., Li, H., & Gould, S. CoRR, 2018.
The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment for Camera Pose Estimation [link]Paper  bibtex   
@article{DBLP:journals/corr/abs-1812-01232,
  author    = {Dylan Campbell and
               Lars Petersson and
               Laurent Kneip and
               Hongdong Li and
               Stephen Gould},
  title     = {The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment
               for Camera Pose Estimation},
  journal   = {CoRR},
  volume    = {abs/1812.01232},
  year      = {2018},
  url       = {http://arxiv.org/abs/1812.01232},
  archivePrefix = {arXiv},
  eprint    = {1812.01232},
  timestamp = {Tue, 01 Jan 2019 00:00:00 +0100},
  biburl    = {https://dblp.org/rec/journals/corr/abs-1812-01232.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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