Habeck, M Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society; Max Planck Institute for Biological Cybernetics, Max Planck Society;
https://link.springer.com/content/pdf/10.1007%2Fs00180-009-0156-x.pdf (Publisher version)
Habeck, M. (2009). Generation of three-dimensional random rotations in fitting and matching problems. Computational Statistics, 24(4), 719-731. doi:10.1007/s00180-009-0156-x.