 Fixed-point-free sphere maps are homotopic to the antipodal map

If a continuous map $f:S^d\to S^d$ has no fixed point, the formula $H_t(x)=((1-t)f(x)-tx)/\Vert (1-t)f(x)-tx\Vert$ is a homotopy from $f$ to the antipodal map. The denominator could vanish only at $t=1/2$ and $f(x)=x$, which is excluded. The homotopy invariance of mapping degree therefore gives $\mathrm{deg}f=(-1{)}^{d+1}$.