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I attempted to switch to cylindrical / spherical coordinates, but I keep getting stuck. Note that $(0,0,0)$ is not in the domain or codomain.

Andrew
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    Not sure what the relationship is with those coordinates, but your map is $\mathbf y= \mathbf x/|\mathbf x|^2$, so $|\mathbf y|=1/|\mathbf x|$ and $\mathbf x = \mathbf y|\mathbf x|^2 = \mathbf y/|\mathbf y|^2$ which is the same map – Calvin Khor Mar 13 '21 at 07:54

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Hint We can write this map in coordinate-free notation as $$f({\bf x}) = \frac{\bf x}{||{\bf x}||^2} .$$

Travis Willse
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$f$ maps a vector with length $r=\sqrt{x^2+y^2+z^2}$ to the same-direction vector but with length $\frac1r$. Therefore $f^{-1}=f$.

Parcly Taxel
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