diff --git a/examples/se2_localization.cpp b/examples/se2_localization.cpp
index 4956e68a..a314d6cd 100644
--- a/examples/se2_localization.cpp
+++ b/examples/se2_localization.cpp
@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to
diff --git a/examples/se2_localization.py b/examples/se2_localization.py
index 7332bc92..66a45516 100644
--- a/examples/se2_localization.py
+++ b/examples/se2_localization.py
@@ -86,7 +86,7 @@
 
 The motion and measurement models are
 
-    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
     y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
 
 The algorithm below comprises first a simulator to
diff --git a/examples/se2_localization_ukfm.cpp b/examples/se2_localization_ukfm.cpp
index 87d856f9..f0ac1b57 100644
--- a/examples/se2_localization_ukfm.cpp
+++ b/examples/se2_localization_ukfm.cpp
@@ -90,7 +90,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to
diff --git a/examples/se3_localization.cpp b/examples/se3_localization.cpp
index 13314172..7443bd25 100644
--- a/examples/se3_localization.cpp
+++ b/examples/se3_localization.cpp
@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to
diff --git a/examples/se3_localization.py b/examples/se3_localization.py
index c70d6513..c401c6e8 100644
--- a/examples/se3_localization.py
+++ b/examples/se3_localization.py
@@ -85,7 +85,7 @@
 
 The motion and measurement models are
 
-    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
     y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
 
 The algorithm below comprises first a simulator to
diff --git a/examples/se3_localization_iekf.cpp b/examples/se3_localization_iekf.cpp
index 73a01958..681ef282 100644
--- a/examples/se3_localization_iekf.cpp
+++ b/examples/se3_localization_iekf.cpp
@@ -86,7 +86,7 @@
  *
  *  The motion and measurement models are
  *
- *    X_(t+1) = f(X_t, u) = X_t * Exp ( w )     // motion equation
+ *    X_(t+1) = f(X_t, u) = X_t * Exp ( u )     // motion equation
  *    y_k     = h(X, b_k) = X^-1 * b_k          // measurement equation
  *
  *  The algorithm below comprises first a simulator to
diff --git a/examples/se_2_3_localization.cpp b/examples/se_2_3_localization.cpp
index d8a2699b..f37a7ef3 100644
--- a/examples/se_2_3_localization.cpp
+++ b/examples/se_2_3_localization.cpp
@@ -60,7 +60,7 @@
  *
  * The kinematic equations (1) can be written as,
  * p <-- p + v dt + 0.5 a dt^2
- * R <-- R Exp_SO3(omega_b)
+ * R <-- R Exp_SO3(omega_b dt)
  * v <-- v + a dt
  *
  * However, we would like to express the kinematics equations in the form,
diff --git a/examples/se_2_3_localization.py b/examples/se_2_3_localization.py
index 791f76ec..61d0a1ed 100644
--- a/examples/se_2_3_localization.py
+++ b/examples/se_2_3_localization.py
@@ -61,7 +61,7 @@
 
 The kinematic equations (1) can be written as,
     p <-- p + v dt + 0.5 a dt^2
-    R <-- R Exp_SO3(omega_b)
+    R <-- R Exp_SO3(omega_b dt)
     v <-- v + a dt
 
 However, we would like to express the kinematics equations in the form,