A geometric algebra approach to some problems of robot vision
 @InCollection{sommer04book,
  author = 	 {G. Sommer},
  title = 	 {A Geometric Algebra Approach to some Problems of Robot Vision},
  booktitle = 	 {Computational Noncommutative Algebra and Applications},
  publisher =	 {Kluwer Academic Publishers},
  year =	 2004,
  editor =	 {J. Byrnes},
  series =        {NATO Science Series},
  number =      {136},
  pages =         {309-338}
}