Computing Invariants in Computer Vision using Geometric Algebra
 @TechReport{lasenbyTR244,
  author = 	 {J. Lasenby and E. Bayro-Corrochano},
  title = 	 {Computing Invariants in Computer Vision using Geometric Algebra},
  institution =  {Cambridge University, Engineering Department},
  year = 	 1997,
  number =	 {CUED/F-INENG/TR.244}
}