Dual quaternions for absolute orientation and hand-eye calibration
@InProceedings{dani97tf,
  author =               {K. Daniilidis},
  title =                {Dual quaternions for absolute orientation and hand-eye
 calibration},
  booktitle =    {Proc. Dagstuhl Workshop on Theoretical Foundations of Computer
 Vision},
  editor =               {F. Solina},
  year =                 1997,
  publisher =    {Springer Wien},
  pages =        {231--240}
}