Before revision:  While our main contribution is the theory, we also demonstrate three different applications of the proposed pose mappings: (i) pose interpolation, (ii) pose servoing control, and (iii) pose estimation in a pointcloud alignment problem.
After revision:  While our main contribution is the theory, we also demonstrate three different examples of the proposed pose mappings: (i) pose interpolation, (ii) pose servoing control, and (iii) pose estimation in a pointcloud alignment problem.