Practical Parameterization of Rotations Using the Exponential Map A one or two sentence summary of the paper. This paper gave an overview of several methods for representing rotation, including quaternions and the exponential map. A one or two sentence description of the problem the paper is trying to solve. This paper evaluated a slew of rotation representations A one of two sentence description of the method used to solve the problem. This paper was an argument for the appropriateness of rotation representations in various situations. A list of short (approx one sentence) descriptions of the key ideas of the paper. This paper described and evaluated: rotation matrices Euler angles quaternions & the exponential map A list of short (approx one sentence) descriptions of the contributions of the paper. A comparison of the methods of representing rotation Rotating Objects Using Quaternions (GamaSutra article) A one or two sentence summary of the paper. An overview of quaternions and their application. A one or two sentence description of the problem the paper is trying to solve. Quaternions are a way to represent rotations without the order-dependence of Euler angles or the problem of gimbal lock. A one of two sentence description of the method used to solve the problem. Rotations are represented as a vector and angle, in the form (w + xi + yj + zk) A list of short (approx one sentence) descriptions of the key ideas of the paper. This article gives an introduction to quaternions and describes the various mathematical operations applicable to them A list of short (approx one sentence) descriptions of the contributions of the paper. (This question isn't really applicable)