3D oriented projective geometry through versors of \(\mathbb R^{3,3}\) (Q2360817)

Questions of computer vision and computer graphics led to the concept of oriented projective geometry in dimensions two and three. Motions of a rigid body in Euclidean three-dimensional space may be presented by projective transformations, which in turn can be described by elements of suitably chosen Clifford algebras. In the orientation-based approach, the author uses \({\mathcal C}(\mathbb{R}^{3,3})\), the Clifford algebra of the quadratic space \(\mathbb{R}^{3,3}\), to describe translations, rotations etc. by bivectors, always taking orientation into account. With the aid of Plücker coordinates, the set of oriented lines of \(\mathbb{R}^3\) is embedded as the Klein quadric in \(\mathbb{R}^{3,3}\). The author then uses volume ratios in \(\mathbb{R}^{4}\) to construct an inner product on \(\mathbb{R}^{3,3}\) which turns out to be usual. To preserve the orientation of lines, the author uses linear transformations \(f\) in \(\mathbb{R}^{4}\) to describe projective collineations in \(\mathbb{R}^{3}\). He calls those \textit{special collineations} whose linear transformations \(f\) fulfill \(\det(f)=1\). Linear transformations \(f\) of \(\mathbb{R}^{4}\) induce linear transformations \(F\) of \(\mathbb{R}^{3,3}\) via the Plücker embedding, \(\det(f)=1\) gives an orthogonal \(F\) with \(\det(F)=1\), cf. \(\mathrm{SL}(4,\mathbb{R}) \cong \mathrm{Spin}^+(3,3)\). Among these \(F\), there are the rotors which are shown to suffice for the description of special projective collineations. The possible special collineations (translations, perspectivities, shears, rotations, scalings, Lorentz transformations, `pinchings', directional scalings) are described by exponentials of suitable bivectors. Likewise, projective correlations are represented by transformations \(G\) of \(\mathbb{R}^{3,3}\) with \(\det(G)=-1\), corresponding to odd versors in \({\mathcal C}(\mathbb{R}^{3,3})\). Non-projective orthogonal transformations of lines are also shown to exist. A reflection defined on lines and its invariance properties, especially with respect to orientation, is considered. Some remarks are given on line containing 3-blades, e.g. reguli. Finally, the author thoroughly compares his results to those of \textit{D. Klawitter} [ibid. 24, No. 3, 713--736 (2014; Zbl 1305.15057)] and \textit{R. Goldman} and \textit{S. Mann} [ibid. 25, No. 1, 113--149 (2015; Zbl 1312.65020)].