@inproceedings{ICPR-v2-2004-Tweed,
	author        = "David Tweed",
	booktitle     = "{Proceedings of the 17th International Conference on Pattern Recognition, Volume 2}",
	doi           = "10.1109/ICPR.2004.1334088",
	isbn          = "0-7695-2128-2",
	pages         = "171--174",
	publisher     = "{IEEE Computer Society}",
	title         = "{Estimating Rigid Motions via the Conformal Model of Euclidean Space}",
	year          = 2004,
}