Hand-eye calibration in terms of motions of lines using geometric algebra
@InProceedings{bayro97scia,
  author =  {E. Bayro-Corrochano and K. Daniilidis and G. Sommer}, 
  title =  {Hand-eye calibration in terms of motions of lines using geometric algebra},
  booktitle = {10th Scandinavian Conference on Image Analysis},
  organization=  {Lappeenranta},
  editor = {M. Pietik{"a}inen},
  year = 1997,
  volume = {I},
  pages = {397--404},
  }