There are several nice references within the article. I think the gvnn, Neural Network Library for Geometric Computer Vision, (https://arxiv.org/abs/1607.07405

There are several nice references within the article. I think the gvnn, Neural Network Library for Geometric Computer Vision, (https://arxiv.org/abs/1607.07405 https://arxiv.org/abs/1607.07405) should also be mentioned.