Coordinate-free projective geometry for computer vision
@InCollection{li01book,
  author = 	 {H. Li and G. Sommer},
  booktitle = 	 {Geometric Computing with Clifford Algebra},
  title = 	 {Coordinate-free projective geometry for computer vision},
  publisher = 	 {Springer-Verlag, Heidelberg},
  year = 	 2001,
  editor =	 {G. Sommer},
  pages =        {415-454}
}