From 5347fa2553ed4cf5b7669963988b5d21ee0aca0e Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 29 Mar 2017 13:31:10 -0500
Subject: changes

---
 changes.txt | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/changes.txt b/changes.txt
index 3ed8ac9..3749448 100644
--- a/changes.txt
+++ b/changes.txt
@@ -17,6 +17,10 @@ initial depth from the reflection information. Better initialization should give
 better results, because we can decrease P0 and rely on vision more. According to
 Davison, setting P0 properly is important.
 
+Using the intitial depth estimate we get some simple sanity checks: is the
+feature above the water? Is the feature a reasonable distance away (greater than
+some minimum distance, closer than some maximum)?
+
 Use least square to determine initial depth.
 
 Set the height measurement using the rotation of the body, the approximate
@@ -31,6 +35,8 @@ 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.
 
-Using the intitial depth estimate we get some simple sanity checks: is the
-feature above the water? Is the feature a reasonable distance away (greater than
-some minimum distance, closer than some maximum)?
+Junho had the ability to handle both reflection features and just monocular
+points. I am adding the ability to promote a monocular point to a reflection
+feature. This will be fit into the EKF framework quite nicely by just altering
+the measurement model used during the filter update.
+
-- 
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