== General Contruction of Time-Domain filters for orientation Data ==

This paper describes a method for "time-domain filters for orientation
data taht are computationally efficient and satisfy such important
properties as coordinate-invariance, time-invariance, and symmetry"

Contributions of the paper - time-domain filters for orientation data,
use of exponential maps to achieve this.
What I got out of this - exponential maps useful because we can actually
do various operations on rotation data in exponential map format that we
cannot do otherwise.  These operations are essential to working with
motion-capture data.