== Practical Parameterization of Rotations Using the Exponentional Map ==

Parameterizing rotations is a difficult task.  Current applications
requre the ability to both "compute and differentiate positions of
articulated figures with respect to their rotational (and other)
parameters.) "  . . . "The exponential map maps a vector in R^3
describing the axis and magnitude of a three DOF rotation to the
corresponding rotation" . . . "We show that our formulation is
numerically stable in the face of machine precision issues, and that for
most applications all singularities in the map can be avoided through a
simple technique of dynamic reparameterization"

Problem being solved - parameterization of rotations

Methods being used - exponential map with dynamic reparameterization

Key ideas of the paper - see above . . .

Key contributions - make use of exponential maps for parameterizing
rotations practical

questions the paper raises - I still don't understand all the math