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Line 54: ====Simultaneous forms==== By formulating the matrices as [[dual- quaternion]]s, it is possible to get a linear equation by which X is solvable in a linear format.<ref>[https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=910651]</ref> *[http://math.loyola.edu/~mili/Calibration/]

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