Hand-eye calibration using dual quaternions
@Article{daniilidis99ijrr,
  author = 	 {K. Daniilidis},
  title = 	 {Hand-eye calibration using dual quaternions},
  journal = 	 {Int. Journal Robotics Research},
  year = 	 1999,
  volume =	 18,
  pages =	 {286-298}
}