@Article{ulrich:16,
  author =       "Markus Ulrich and Carsten Steger:",
  title =        "Hand Eye Calibration of {SCARA} Robots Using Dual
                  Quaternions",
  journal =      "Pattern Recognition and Image Analysis",
  year =         "2016",
  volume =       "26",
  number =       "1",
  pages =        "231--239",
  month =        jan
}