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The first edition of this book began life as part of Springer’s Essential series and contained ten chapters and approximately 220 pages. This sixth and last edition has twenty chapters and approximately 600 pages. Over the intervening editions, I have revised and extended previous descriptions and introduced new chapters on subjects that I believe are relevant to computer graphics, such as differential calculus and interpolation, and new subjects that I had to learn about, such as quaternions and geometric algebra. Hopefully, this edition explores enough mathematical ideas to satisfy most people working in computer graphics. Although the first edition of this bookwas produced on a humble PCusingWORD, subsequent editions were produced on an Apple iMac using LATEX. I recommend to any budding authors that they should learn LATEX and use Springer’s templates to create their first manuscript. Furthermore, today’s computers are so fast that I often compile the entire book for the sake of changing a single character—it only takes 5 or 6 seconds!