@inproceedings{xu2018recovering,
  title={Recovering a Rotation Matrix From Three Direction Cosines},
  author={Xu, Mengdi and Chirikjian, Gregory S},
  booktitle={International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
  volume={51814},
  pages={V05BT07A079},
  year={2018},
  organization={American Society of Mechanical Engineers}
}