Entanglement assisted alignment of reference frames using a dense covariant coding

We present a procedure inspired by dense coding, which enables a highly efficient transmission of information of a continuous nature. The procedure requires the sender and the recipient to share a maximally entangled state. We deal with the concrete problem of aligning reference frames or trihedra by means of a quantum system. We find the optimal covariant measurement and compute the corresponding average error, which has a remarkably simple close form. The connection of this procedure with that of estimating unitary transformations on qubits is briefly discussed.