@article{lu1996online,
  title={Online computation of exterior orientation with application to hand-eye calibration},
  author={Lu, C-P and Mjolsness, Eric and Hager, Gregory D},
  journal={Mathematical and computer modelling},
  volume={24},
  number={5-6},
  pages={121--143},
  year={1996},
  publisher={Pergamon}
}

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