Rigid body motion calculated from spatial co-ordinates of markers. Spoor, C. & Veldpaus, F. J. Biomech., 13:391--393, 1980.
bibtex   
@Article{RSM:Spo80,
  author =       "C.W. Spoor and F.E. Veldpaus",
  title =        "Rigid body motion calculated from spatial co-ordinates
                 of markers",
  journal =      "J. Biomech.",
  year =         "1980",
  volume =       "13",
  pages =        "391--393",
  robnote =      "Procrustes method derived and in algorithmic form,
                 heart in tank problem; see Cha95 for the final solution
                 to this problem.",
}

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