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Veldpaus, F. E., Woltring, H. J., & Dortmans, L. J. M. G. (1988). A Least-Squares Algorithm for the Equiform Transformation from Spatial Marker Co-Ordinates. Journal of Biomechanics, 21, 45-54.
https://doi.org/10.1016/0021-9290(88)90190-x

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