@article{makadia06pami,
  author    = {Ameesh Makadia and Kostas Daniilidis},
  title     = {Rotation Recovery from Spherical Images without Correspondences},
  journal   = {{IEEE} Transactions on Pattern Analysis and Machine Intelligence (TPAMI)},
  volume    = {28},
  number    = {7},
  pages     = {1170--1175},
  year      = {2006},
}