Motor algebra for 3D kinematics: The case of hand-eye calibration
@Article{bayro001jmiv,
  author = 	 {E. Bayro-Corrochano and K. Daniilidis and G. Sommer},
  title = 	 {Motor algebra for 3D kinematics: The case of hand-eye calibration},
  journal = 	 {Journal of Mathematical Imaging and Vision},
  year = 	 2000,
  volume =	 13,
  pages =	 {79-100}
}