@TechReport{Heller-TR-2012-12,
  IS = { zkontrolovano 15 Jan 2013 },
  UPDATE  = { 2012-10-01 },
author =      {Heller, Jan and Havlena, Michal and Pajdla, Tom{\'a}{\v s}},
title =       {{bbhec}: A Branch-and-Bound Algorithm for Globally Optimal Hand-Eye Calibration},
institution = {Center for Machine Perception, 
               K13133 FEE Czech Technical University},
address =     {Prague, Czech Republic},
year =        {2012},
month =       {May},
type =        {Research Report},
number =      {CTU--CMP--2012--12},
issn =        {1213-2365},
pages =       {10},
figures =     {4},
authorship =  {34-33-33},
psurl       = {[Heller-TR-2012-12.pdf]},
project =     {FP7-SPACE-218814 PRoVisG, FP7-SPACE-241523 PRoViScout,
               SGS10/277/OHK3/3T/13},
annote =      {This research report describes several enhancements
    that result to a significant speedup over the algorithm decribed
    in "Heller, Havlena, Pajdla: A Branch-and-Bound Algorithm for
    Globally Optimal Hand-Eye Calibration, CVPR 2012". Further, it
    describes research implementation of this method called bbhec. },
keywords =    {hand-eye calibration, branch-and-bound},
}