Abstract
Suppose $u_1,\cdots,u_n$ are fixed points on the sphere, $v_1,\cdots,v_n$ are random points such that the distribution of $v_i$ depends only upon $v^t_iAu_i$ for some unknown rotation A. This paper provides asymptotic tests and confidence regions for A and for the axis of rotation of A. Results are given in arbitrary dimension.
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