  We retrace Davenport's solution to Wahba's classic problem of aligning two
pointclouds using the formalism of Geometric Algebra (GA). GA proves to be a
natural backdrop for this problem involving three-dimensional rotations due to
the isomorphism between unit-length quaternions and rotors. While the solution
to this problem is not a new result, it is hoped that its treatment in GA will
have tutorial value as well as open the door to addressing more complex
problems in a similar way.
