Allan Cortzen. Geometric algebra algorithm representing an orthogonal isomorphism in versor form v2.03. Available online, 10 2017. URL:


Chris Doran and Anthony Lasenby. Geometric Algebra for Physicists. Cambridge University Press, 2003. URL:


Leo Dorst, Daniel Fontijne, and Stephen Mann. Geometric Algebra for Computer Science: An Object-Oriented Approach to Geometry. Morgan Kaufmann Publishers Inc., 2009. ISBN 9780080553108.


Leo Dorst and Robert Valkenburg. Square Root and Logarithm of Rotors in 3D Conformal Geometric Algebra Using Polar Decomposition, pages 81–104. Springer London, 01 2011. doi:10.1007/978-0-85729-811-9_5.


Daniel Fontijne and Leo Dorst. Reconstructing rotations and rigid body motions from exact point correspondences through reflections. Journal of Theoretical Biology - J THEOR BIOL, pages 63–78, 01 2011. doi:10.1007/978-0-85729-811-9_4.


Hugo Hadfield and Joan Lasenby. Direct linear interpolation of geometric objects in conformal geometric algebra. Advances in Applied Clifford Algebras, 29:, 09 2019. doi:10.1007/s00006-019-1003-y.


David Hestenes. Space-time algebra. Springer Berlin Heidelberg, New York, second edition edition, 2015. ISBN 978-3-319-18412-8 978-3-319-18413-5.


Eckhard Hitzer and Stephen Sangwine. Multivector and multivector matrix inverses in real clifford algebras. Applied Mathematics and Computation, 311:375–389, Oct 2017. doi:10.1016/j.amc.2017.05.027.


Anthony Lasenby, Joan Lasenby, and Rich Wareham. A Covariant Approach to Geometry using Geometric Algebra. Technical Report F-INFENG/TR-483, Department of Engineering, University of Cambridge, 2004. URL:


Joan Lasenby, Hugo Hadfield, and Anthony Lasenby. Calculating the rotor between conformal objects. Advances in Applied Clifford Algebras, 29:102, 10 2019. doi:10.1007/s00006-019-1014-8.


D. S. Shirokov. On determinant, other characteristic polynomial coefficients, and inverses in clifford algebras of arbitrary dimension. 2020. arXiv:2005.04015.


Rich Wareham, Jonathan Cameron, and Joan Lasenby. Applications of conformal geometric algebra in computer vision and graphics. In Hongbo Li, Peter J. Olver, and Gerald Sommer, editors, Computer Algebra and Geometric Algebra with Applications, 329–349. Berlin, Heidelberg, 2005. Springer Berlin Heidelberg.


Rich Wareham and Joan Lasenby. Mesh vertex pose and position interpolation using geometric algebra. In Articulated Motion and Deformable Objects, 122–131. Berlin, Heidelberg, 2008. Springer Berlin Heidelberg.