Jan Heller Michal Havlena Akihiro Sugimoto Tomás Pajdla Structure-from-motion based hand-eye calibration using L∞ minimization. 3497-3503 2011 CVPR http://dx.doi.org/10.1109/CVPR.2011.5995629 conf/cvpr/2011 db/conf/cvpr/cvpr2011.html#HellerHSP11