Although the notion of higher dimensions goes back to René Descartes, substantial development of a higher-dimensional geometry only began in the 19th century, via the work of Arthur Cayley, William Rowan Hamilton, Ludwig Schläfli and Bernhard Riemann. Riemann's 1854 Habilitationsschrift, Schläfli's 1852 Theorie der vielfachen Kontinuität, and Hamilton's discovery of the quaternions and John T. Graves ' discovery of the octonions in 1843 marked the beginning of higher-dimensional geometry.