From 229d6cf8acbfc6546794af4f78370f699623b2ee Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Thu, 23 Mar 2017 12:20:22 -0500
Subject: Update changes

---
 changes.txt | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/changes.txt b/changes.txt
index 1148869..b1cb6c0 100644
--- a/changes.txt
+++ b/changes.txt
@@ -18,4 +18,9 @@ Add initial reflection view.
 
 Junho sets all features to a fixed initial depth e.g 10m, 20m. I calculate the
 initial depth from the reflection information. Better initialization should give
-better results, because we can decrease P0 and rely in vision more.
+better results, because we can decrease P0 and rely on vision more. According to
+Davison, setting P0 properly is important.
+
+According to Davison, measurements near the center of the image (the principal
+point) are more accurate than those near the edges. Thus, we can adjust R
+according to the distance.
-- 
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