K. Kanatani, Understanding Geometric Algebra:
Hamilton, Grassmann, and Clifford for Computer Vision and Graphics
AK Peters/CRC Press, Boca Raton, FL, U.S.A, April 2015.

ISBN 9781482259506

Publisher Webpage

  1. Introduction
  2. 3D Euclidean Geometry
  3. Oblique Coordinate System
  4. Hamilton's Quaternion Algebra
  5. Grassmann's Outer Product Akgebra
  6. Geometric Product and Clifford Algebra
  7. Homogeneous Space and Grassmann-Cayley Algebra
  8. Conformal Space and Conformal Geometry: Geometric Algebra
  9. Camera Imaging and Conformal Transformations
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