This paper introduces the mathematical framework of conformal geometric algebra (CGA) as a language for computer graphics and computer vision. Specifically it discusses a new method for pose and position interpolation based on CGA which firstly allows for existing interpolation methods to be cleanly extended to pose and position interpolation, but also allows for this to be extended to higher-dimension spaces and all conformal transforms (including dilations). In addition, we discuss a method of dealing with conics in CGA and the intersection and reflections of rays with such conic surfaces. Possible applications for these algorithms are also discussed.

Rich Wareham, Jonathan Cameron, and Joan Lasenby, **Applications of Conformal Geometric Algebra in Computer Vision and Graphics, **H. Li, P. J. Olver and G. Sommer (Eds.): IWMM 2004, LNCS 3519, pp. 329–349, Springer-Verlag (2005)