@inproceedings{aquaternionbasedcertifiablyoptimal,
  title = {A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers},
  author = {Heng Yang and Luca Carlone},
  year = {2019},
  booktitle = {ICCV 2019 10},
  eprint = {1905.12536},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.12536v4},
}