Pose estimation in the language of kinematics
@InProceedings{rosenhahn00afpac,
  author = 	 {B. Rosenhahn and Y. Zhang and G. Sommer},
  title = 	 {Pose estimation in the language of kinematics},
  booktitle = 	 {2nd International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, Kiel},
  year =	 2000,
  pages =        {284-293},
  publisher =    {Springer-Verlag},
  editor =       {G. Sommer and Y. Zeevi},
  series =       {LNCS},
  volume =       {1888},
  }