@ARTICLE{wu2020hand, 
  author={Jin Wu and Yuxiang Sun and Miaomiao Wang and Ming Liu}, 
  journal={IEEE Transactions on Instrumentation and Measurement}, 
  title={Hand-Eye Calibration: 4-D Procrustes Analysis Approach}, 
  year={2020},
  volume={69},
  number={6},
  pages={2966-2981},
  doi={10.1109/TIM.2019.2930710}}