diff --git a/libs/poses/include/mrpt/poses/CPose3DPDFGaussian.h b/libs/poses/include/mrpt/poses/CPose3DPDFGaussian.h
index 014a9decf6..6008771861 100644
--- a/libs/poses/include/mrpt/poses/CPose3DPDFGaussian.h
+++ b/libs/poses/include/mrpt/poses/CPose3DPDFGaussian.h
@@ -29,10 +29,8 @@ class CPose3DQuatPDFGaussian;
  *  Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is
  * implemented in the method "CPose3DPDFGaussian::operator+=".
  *
- *  For further details on implemented methods and the theory behind them,
- *  see <a
- * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
- * >this report</a>.
+ * \note Read also: "A tutorial on SE(3) transformation parameterizations and
+ * on-manifold optimization", in \cite blanco_se3_tutorial
  *
  * \sa CPose3D, CPose3DPDF, CPose3DPDFParticles
  * \ingroup poses_pdf_grp
diff --git a/libs/poses/include/mrpt/poses/CPose3DPDFGaussianInf.h b/libs/poses/include/mrpt/poses/CPose3DPDFGaussianInf.h
index a6e3581b78..cca9efda85 100644
--- a/libs/poses/include/mrpt/poses/CPose3DPDFGaussianInf.h
+++ b/libs/poses/include/mrpt/poses/CPose3DPDFGaussianInf.h
@@ -28,10 +28,8 @@ class CPose3DQuatPDFGaussian;
  *  Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is
  * implemented in the method "CPose3DPDFGaussianInf::operator+=".
  *
- *  For further details on implemented methods and the theory behind them,
- *  see <a
- * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
- * >this report</a>.
+ * \note Read also: "A tutorial on SE(3) transformation parameterizations and
+ * on-manifold optimization", in \cite blanco_se3_tutorial
  *
  * \sa CPose3D, CPose3DPDF, CPose3DPDFParticles, CPose3DPDFGaussian
  * \ingroup poses_pdf_grp
diff --git a/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussian.h b/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussian.h
index 7bb9d6fc01..b1eb421052 100644
--- a/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussian.h
+++ b/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussian.h
@@ -32,10 +32,8 @@ class CPose3DPDFGaussian;
  * implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and
  * "CPose3DQuatPDF::jacobiansPoseComposition".
  *
- *  For further details on implemented methods and the theory behind them,
- *  see <a
- * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
- * >this report</a>.
+ * \note Read also: "A tutorial on SE(3) transformation parameterizations and
+ * on-manifold optimization", in \cite blanco_se3_tutorial
  *
  * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf
  * \ingroup poses_pdf_grp
diff --git a/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussianInf.h b/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussianInf.h
index 7efa3ffd75..05f908108a 100644
--- a/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussianInf.h
+++ b/libs/poses/include/mrpt/poses/CPose3DQuatPDFGaussianInf.h
@@ -31,10 +31,8 @@ class CPose3DPDFGaussian;
  * implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and
  * "CPose3DQuatPDF::jacobiansPoseComposition".
  *
- *  For further details on implemented methods and the theory behind them,
- *  see <a
- * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
- * >this report</a>.
+ * \note Read also: "A tutorial on SE(3) transformation parameterizations and
+ * on-manifold optimization", in \cite blanco_se3_tutorial
  *
  * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian
  * \ingroup poses_pdf_grp