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4. Lounesto, P.: Clifford Algebras and Spinors, 2nd edn. Cambridge University Press, Cambridge (2001)
5. Valkenburg, R., Dorst, L.: Estimating motors from a variety of geometric data in 3D conformal geometric algebra. In: Dorst, L., Lasenby, J. (eds.) Guide to Geometric Algebra in Practice. Springer, London (2011). Chap.
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