Understanding Geometric Algebra : Hamilton, Grassmann, and Clifford for Computer Vision and Graphics

**Understanding Geometric Algebra: Hamilton, Grassmann, and Clifford for Computer Vision and Graphics** introduces geometric algebra with an emphasis on the background mathematics of Hamilton, Grassmann, and Clifford. It shows how to describe and compute geometry for 3D modeling applications in computer graphics and computer vision. Unlike similar texts, this book first gives separate descriptions of the various algebras and then explains how they are combined to define the field of geometric algebra. It starts with 3D Euclidean geometry along with discussions as to how the descriptions of geometry could be altered if using a non-orthogonal (oblique) coordinate system. The text focuses on Hamilton’s quaternion algebra, Grassmann’s outer product algebra, and Clifford algebra that underlies the mathematical structure of geometric algebra. It also presents points and lines in 3D as objects in 4D in the projective geometry framework; explores conformal geometry in 5D, which is the main ingredient of geometric algebra; and delves into the mathematical analysis of camera imaging geometry involving circles and spheres. With useful historical notes and exercises, this book gives readers insight into the mathematical theories behind complicated geometric computations. It helps readers understand the foundation of today’s geometric algebra. This book offers a unique historical look at the development of geometric algebra, the roots of which have taken on new significance in light of computer graphics, computer vision, and robotics applications. For this reason, it covers Hamilton's, Grassmann's, and Clifford's geometry in tracing the development of what is now seen as geometric algebra. Designed for wide range of readers involved in 3D modeling, the book also includes exercises and solutions, which can be used in special topic courses on the subject or as a supplemental text in .. Chapter 1. Introduction -- Chapter 2. 3d Euclidean Geometry -- Chapter 3. Oblique Coordinate Systems -- Chapter 4. Hamilton's Quaternion Algebra -- Chapter 5. Grassmann's Outer Product Algebra -- Chapter 6. Geometric Product And Clifford Algebra -- Chapter 7. Homogeneous Space And Grassmann-cayley Algebra -- Chapter 8. Conformal Space And Conformal Geometry : Geometric Algebra -- Chapter 9. Camera Imaging And Conformal Transformations. Kenichi Kanatani. Includes Bibliographical References (pages 187-188) And Index. Introduction. 3-D Euclidean Geometry. Oblique Coordinates Systems. Hamilton's Quaternion Algebra. Grassmann's Outer Product Algebra. Geometric Product and Clifford Algebra. Homogeneous Space and Grassmann-Cayley Algebra. Conformal Space and Conformal Geometry. Geometry of Camera Imaging. Bibliography. Answers of Exercises.