C.J.L. Doran
Bayesian inference and geometric algebra: an application to camera localization
In: E. Bayro and G. Sobczyk eds. Geometric algebra: a geometric approach to computer vision, neural and quantum computing, robotics and engineering. Birkhauser, 172 (2000)

Abstract: Geometric algebra provides a number of powerful tools for the treatment of rotations in three dimensions. Rotations are parameterised by rotors, which are normalised multivectors in a 4-d subalgebra of the 3-d geometric algebra. This parametrisation can be exploited to simplify both extrapolation and optimisation problems involving rotations. A number of these are considered in the context of computer vision.

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