@TechReport{SCI:Wei98a,
  author =    "D.M. Weinstein",
  title =     "The Analytic 3-D Transform for the Least-Squared
              Fit of Three Pairs of Corresponding Points",
  number =    "UUCS-98-005",
  year =      "1998",
  institution = "University of Utah",
  type =      "School of Computing Technical Report",
  address =   "Salt Lake City, UT",
  url =       "http://www.sci.utah.edu/publications/dmw98/UUCS-98-005.ps",
  url =       "http://www.sci.utah.edu/publications/dmw98/UUCS-98-005.ps.gz",
  url =       "http://www.sci.utah.edu/publications/dmw98/UUCS-98-005.pdf",
}