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We investigate a sample of 3412 {it International Celestial Reference Frame} (ICRF3) extragalactic radio-loud sources with accurate positions determined by VLBI in the S/X band, mostly active galactic nuclei (AGN) and quasars, which are cross-matched with optical sources in the second Gaia data release (Gaia DR2). The main goal of this study is to determine a core sample of astrometric objects that define the mutual orientation of the two fundamental reference frames, the Gaia (optical) and the ICRF3 (radio) frames. The distribution of normalized offsets between the VLBI sources and their optical counterparts is non-Rayleigh, with a deficit around the modal value and a tail extending beyond the 3-sigma confidence level. A few filters are applied to the sample in order to discard double cross-matches, confusion sources, and Gaia astrometric solutions of doubtful quality. {it Panoramic Survey Telescope and Rapid Response System} (Pan-STARRS) and {it Dark Energy Survey} (DES) stacked multi-color images are used to further deselect objects that are less suitable for precision astrometry, such as extended galaxies, double and multiple sources, and obvious misidentifications. After this cleaning, 2642 quasars remain, of which 20% still have normalized offset magnitudes exceeding 3, or 99% confidence level. We publish a list of 2118 radio-loud quasars of prime astrometric quality. The observed dependence of binned median offset on redshift shows the expected decline at small redshifts, but also an unexpected rise at $zsim 1.6$, which may be attributed to the emergence of the C IV emission line in the Gaias $G$ band. The Gaia DR2 parallax zero-point is found to be color-dependent, suggesting an uncorrected instrumental calibration effect.
The second release of Gaia data (Gaia DR2) contains the astrometric parameters for more than half a million quasars. This set defines a kinematically non-rotating reference frame in the optical domain referred to as the Gaia-CRF2. The Gaia-CRF2 is th
As part of the data processing for Gaia Data Release~1 (Gaia DR1) a special astrometric solution was computed, the so-called auxiliary quasar solution. This gives positions for selected extragalactic objects, including radio sources in the second rea
Positions and proper motions of Gaia sources are expressed in a reference frame that ideally should be non-rotating relative to distant extragalactic objects, coincident with the International Celestial Reference System (ICRS), and consistent across
The Gaia optical reference frame is intrinsically undefined with respect to global orientation and spin, so it needs to be anchored in the radio-based International Celestial Reference Frame (ICRF) to provide a referenced and quasi-inertial celestial
We here apply a novel technique selecting quasar candidates purely as sources with zero proper motions in the Gaia data release 2 (DR2). We demonstrate that this approach is highly efficient toward high Galactic latitudes with < 25% contamination fro