@article{JGG_2017_21_1_JGG_2017_21_1_a10,
     author = {D Klawitter and C. Tonn and O. Bringmann },
     title = {A {Dual} {Quaternion} {Based} {Pipe} {Alignment} {Algorithm} for {Constrained} {Pipe} {Systems}},
     journal = {Journal for geometry and graphics},
     pages = {119--13},
     publisher = {mathdoc},
     volume = {21},
     number = {1},
     year = {2017},
     url = {http://geodesic.mathdoc.fr/item/JGG_2017_21_1_JGG_2017_21_1_a10/}
}