diff --git a/tests/geometry/rotation.rs b/tests/geometry/rotation.rs
index 369b5454..661430a0 100644
--- a/tests/geometry/rotation.rs
+++ b/tests/geometry/rotation.rs
@@ -19,7 +19,7 @@ fn angle_3() {
 
 #[test]
 fn from_rotation_matrix() {
-    // Test degenerate case when from_matrix_eps gets stuck in maximum
+    // Test degenerate case when from_matrix gets stuck in Identity rotation
     let identity = Rotation3::from_matrix(&Matrix3::new(
         1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
     ));
@@ -28,10 +28,15 @@ fn from_rotation_matrix() {
         1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
     ));
     assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
+    // Test that issue 628 is fixed
+    let m_628 = nalgebra::Matrix3::<f64>::new(-1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0);
+    assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.01);
+    assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()), nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.001);
+
     // Test that issue 1078 is fixed
-    let m = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
-    assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m));
-    assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m.clone()), nalgebra::Rotation3::from_matrix(&m));
+    let m_1078 = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
+    assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.01);
+    assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()), nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.001);
 }
 
 #[test]