Numerical evaluation of versors with Clifford algebra
@InProceedings{perwass01agacse,
  author = 	 {C. Perwass and G. Sommer},
  title = 	 {Numerical evaluation of versors with Clifford algebra},
  booktitle = 	 {Applications of Geometric Algebra in Computer Science and Engineering},
    organization = {Proc. AGACSE 2001, Cambridge, UK},
   publisher =	 {Birkh{"a}user Boston},
  year =	 2002,
  editor =	 {L. Dorst and C. Doran and J. Lasenby},
  chapter =	 30,
  pages =	 {341-350}
}