Berthold K. P. Horn. Relative orientation. International Journal of Computer Vision, 4(1):59-78, 1990. [doi]
@article{Horn90,
title = {Relative orientation},
author = {Berthold K. P. Horn},
year = {1990},
doi = {10.1007/BF00137443},
url = {http://dx.doi.org/10.1007/BF00137443},
researchr = {https://researchr.org/publication/Horn90},
cites = {0},
citedby = {0},
journal = {International Journal of Computer Vision},
volume = {4},
number = {1},
pages = {59-78},
}