@article{Kabsch:a12999,
author = "Kabsch, W.",
title = "{A solution for the best rotation to relate two sets of vectors}",
journal = "Acta Crystallographica Section A",
year = "1976",
volume = "32",
number = "5",
pages = "922--923",
month = "Sep",
doi = {10.1107/S0567739476001873},
url = {http://dx.doi.org/10.1107/S0567739476001873},
abstract = {A simple procedure is derived which determines a best rotation of a given vector set into a second vector set by minimizing the weighted sum of squared deviations. The method is generalized for any given metric constraint on the transformation.},
}