For people interested in the relationship between algebra and geometry, there is a quite rigorous, yet not too long discussion of these topics in the "Elements

For people interested in the relationship between algebra and geometry, there is a quite rigorous, yet not too long discussion of these topics in the "Elements of Geometry for Computer Vision" [1]. It comes the from the engineering end and finds a good balance between going into too much depth and introducing the necessary theory for bridging algebra and geometry. E.g. representing motion as a change in basis in linear space, the perspective camera as a mathematical model, etc. [1] http://cmp.felk.cvut.cz/~pajdla/gvg/GVG-2016-Lecture.pdf http://cmp.felk.cvut.cz/~pajdla/gvg/GVG-2016-Lecture.pdf