diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 46eac05d7..506ae59c9 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -139,10 +139,10 @@ public:
   /// @name Lie Group
   /// @{
 
-  /// Exponential map from Lie algebra se(2) to SE(2)
+	///Exponential map at identity - create a rotation from canonical coordinates
 	static Pose2 Expmap(const Vector& xi);
 
-  /// Exponential map from SE(2) to Lie algebra se(2)
+	///Log map at identity - return the canonical coordinates of this rotation
 	static Vector Logmap(const Pose2& p);
 
   /// @}
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 612111b61..48933a691 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -32,6 +32,7 @@ namespace gtsam {
   /**
    * A 3D pose (R,t) : (Rot3,Point3)
    * @ingroup geometry
+   * \nosubgrouping
    */
   class Pose3 {
   public:
@@ -47,6 +48,9 @@ namespace gtsam {
 
   public:
 
+  	/// @name Standard Constructors
+  	/// @{
+
     /** Default constructor is origin */
     Pose3() {}
 
@@ -64,16 +68,7 @@ namespace gtsam {
       R_(T(0, 0), T(0, 1), T(0, 2), T(1, 0), T(1, 1), T(1, 2), T(2, 0),
           T(2, 1), T(2, 2)), t_(T(0, 3), T(1, 3), T(2, 3)) {}
 
-    const Rot3& rotation() const { return R_; }
-    const Point3& translation() const { return t_; }
-
-    double x() const { return t_.x(); }
-    double y() const { return t_.y(); }
-    double z() const { return t_.z(); }
-
-    /** convert to 4*4 matrix */
-    Matrix matrix() const;
-
+    /// @}
     /// @name Testable
     /// @{
 
@@ -134,13 +129,25 @@ namespace gtsam {
     /// @name Lie Group
     /// @{
 
-    /// Exponential map from Lie algebra se(3) to SE(3)
+    /// Exponential map at identity - create a rotation from canonical coordinates
     static Pose3 Expmap(const Vector& xi);
 
-    /// Exponential map from SE(3) to Lie algebra se(3)
+    /// Log map at identity - return the canonical coordinates of this rotation
     static Vector Logmap(const Pose3& p);
 
     /// @}
+  	/// @name Standard Interface
+  	/// @{
+
+    const Rot3& rotation() const { return R_; }
+    const Point3& translation() const { return t_; }
+
+    double x() const { return t_.x(); }
+    double y() const { return t_.y(); }
+    double z() const { return t_.z(); }
+
+    /** convert to 4*4 matrix */
+    Matrix matrix() const;
 
     /** syntactic sugar for transform_from */
     inline Point3 operator*(const Point3& p) const { return transform_from(p); }
@@ -203,6 +210,10 @@ namespace gtsam {
         boost::optional<Matrix&> H1=boost::none,
         boost::optional<Matrix&> H2=boost::none) const;
 
+    /// @}
+  	/// @name Advanced Interface
+  	/// @{
+
   private:
     /** Serialization function */
     friend class boost::serialization::access;
@@ -224,5 +235,6 @@ namespace gtsam {
   inline Matrix wedge<Pose3>(const Vector& xi) {
     return Pose3::wedge(xi(0),xi(1),xi(2),xi(3),xi(4),xi(5));
   }
+	/// @}
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index 67acc0bc1..eb6d1f1e9 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -155,7 +155,7 @@ namespace gtsam {
 	  /// @name Lie Group
 	  /// @{
 
-		/// Expmap around identity - create a rotation from an angle
+  	///Exponential map at identity - create a rotation from canonical coordinates
 		static Rot2 Expmap(const Vector& v) {
 			if (zero(v))
 				return (Rot2());
@@ -163,7 +163,7 @@ namespace gtsam {
 				return Rot2::fromAngle(v(0));
 		}
 
-		/// Logmap around identity - return the angle of the rotation
+		///Log map at identity - return the canonical coordinates of this rotation
 		static inline Vector Logmap(const Rot2& r) {
 			return Vector_(1, r.theta());
 		}
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 502734c3e..e7eb1a889 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -281,6 +281,8 @@ namespace gtsam {
     static Vector Logmap(const Rot3& R);
 
     /// @}
+  	/// @name Standard Interface
+  	/// @{
 
     /** return 3*3 rotation matrix */
     Matrix matrix() const;
@@ -336,6 +338,10 @@ namespace gtsam {
      */
     inline double yaw() const   { return ypr()(0); }
 
+  	/// @}
+  	/// @name Advanced Interface
+  	/// @{
+
     /** Compute the quaternion representation of this rotation.
      * @return The quaternion
      */
@@ -357,6 +363,8 @@ namespace gtsam {
     }
   };
 
+	/// @}
+
   /**
    * [RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R
    * and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx'
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 4cf46d159..0bdf37e0e 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -132,6 +132,7 @@ namespace gtsam {
 			return Point2(uL_, v_);
 		}
 
+		///TODO comment
 		inline StereoPoint2 between(const StereoPoint2& p2) const {
 			return gtsam::between_default(*this, p2);
 		}