Minkowski (1907-1908)
The work on the principle of relativity by Lorentz, Einstein, Max Planck, together with Poincaré's four-dimensional approach, were further elaborated by Hermann Minkowski in 1907 and 1908. Minkowski particularly reformulated electrodynamics in a four-dimensional way and gave a geometric representation of the Lorentz transformation by using Minkowski diagrams.
Read more about this topic: History Of Lorentz Transformations