Jan Böhm Jürgen Hefele Dieter Fritsch Towards Online Pose Measurement for Robots. 298-304 2001 conf/dagm/2001 DAGM-Symposium http://link.springer.de/link/service/series/0558/bibs/2191/21910298.htm db/conf/dagm/dagm2001.html#BohmHF01