Is there a method to find the axis of rotation between two rigid bodies in $\Bbb R^3 $ that move relative to each other? The rigid bodies are represented by two homogenous transformation matrices (orientation and position) measured at two or more discrete points in time. To better illustrate it see the following picture.
2026-03-29 13:27:51.1774790871
finding the axis of rotation for given transformation matrices
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