Geometric Algebra for Computer Science by Leo Dorst, Daniel Fontijne and Stephen Mann (Morgan Kaufmann 2007) ISBN: 012369465-5
Web page: http://www.geometricalgebra.net/index.html
This book covers applications of Geometric Algebra in computer science, particularly for computer graphics applications including ray tracing. It covers 2 dimensional and 3 dimensional Euclidean space, with extension to a 4 dimensional homogenous model and a 5 dimensional conformal model. -- JohnFletcher