A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions.

Raouf Benjemaa Francis Schmitt A Solution for the Registration of Multiple 3D Point Sets Using Unit Quaternions. 34-50 http://link.springer.de/link/service/series/0558/bibs/1407/14070034.htm 1998 conf/eccv/1998-2 ECCV (2) db/conf/eccv/eccv1998-2.html#BenjemaaS98