Leo Dorst First Order Error Propagation of the Procrustes Method for 3D Attitude Estimation. 221-229 2005 27 IEEE Trans. Pattern Anal. Mach. Intell. 2 http://doi.ieeecomputersociety.org/10.1109/TPAMI.2005.29 db/journals/pami/pami27.html#Dorst05