Trying out the mechanics of the Singular Value Decomposition (SVD) rigid body motion solve back in November 2019, as used in Radar Odometry [1], first described in [2]:
[1] S. H. Cen and P. Newman, “Precise ego-motion estimation with millimeter-wave radar under diverse and challenging conditions,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 6045–6052.
[2] J. H. Challis, “A procedure for determining rigid body transformation parameters,” Journal of biomechanics, vol. 28, no. 6, pp. 733–737, 1995.