Reference. Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups [gallier2014clifford]

@article{gallier2014clifford,
 title = {Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups},
 author = {Gallier, Jean},
 year = {2014},
 journal = {arXiv preprint arXiv:0805.0311}
}