\bibitem{vecmat3:mcadams2011}
A.~McAdams, A.~Selle, R.~Tamstorf, J.~Teran, E.~Sifakis,
\newblock Computing the singular value decomposition of $3\times3$ matrices with minimal branching and elementary floating point operations,
\newblock Technical Report 1690, University of Wisconsin--Madison, 2011.