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The SO3 points clouds have been generated from the ISOI software available
at this webpage :
http://www.mitchell-lab.org/rots.php
This software is an implementation of the two following papers:
J. C. Mitchell. Discrete Uniform Sampling of Rotation Groups Using Orthogonal Images. SIAM Journal of Scientific Computing, 30(1):525-547, 2007.
A. Yershova, S. Jain, S. M. LaValle, and J. C. Mitchell. Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration International Journal of Robotics Research, November 2009.
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