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Figure 1
The quaternion eigensystem method for computing the optimal rotation matching two spatial data sets was discovered independently and published without cross-references in at least three distinct literatures. Downward arrows point to the introduction of the abstract problem and upward rays indicate domains of publications specifically citing the quaternion method. Horn eventually appeared routinely in the crystallography citations, and reviews such as that by Flower (1999BB19) introduced multiple cross-field citations. Several fields have included activity on quaternion-related rotation metrics and rotation averaging with varying degrees of cross-field awareness.

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ISSN: 2053-2733
Volume 76| Part 4| July 2020| Pages 432-457
https://doi.org/10.1107/S2053273320002648
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