The dual quaternion approach to hand-eye calibration
@InProceedings{dani96icpr,
  author = 	 {K. Daniilidis and E. Bayro--Corrochano},
  title = 	 {The dual quaternion approach to hand--eye calibration},
  booktitle = 	 {Proc. 13th Int. Conf. on Pattern Recognition},
  organization = {ICPR},
  year =	 1996,
  volume =       {A, Vienna},
  pages =        {318--322}
}