From a62bc5ac3429e3ae2b0d5f62e498abd8006bc98f Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 24 Mar 2017 13:30:20 -0500
Subject: Changes to changes.txt

---
 changes.txt | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/changes.txt b/changes.txt
index b1cb6c0..b21f922 100644
--- a/changes.txt
+++ b/changes.txt
@@ -12,15 +12,22 @@ and compose S as block diagonal for speed improvement.
 Use quaternion reflection instead of Householder Transformation for determining
 the predicted reflection measurement.
 
-Below here is not yet implemented:
-
-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 on vision more. According to
 Davison, setting P0 properly is important.
 
+Use least square to determine initial depth.
+
+Below here is not yet implemented:
+---------------------------------------------
+
+Add initial reflection view.
+
 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)?
-- 
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