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 # VINS-Fisheye
 This repository is a Fisheye version of [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) with GPU and Visionworks acceleration. It can run on Nvidia TX2 in real-time, also provide depth estimation based on fisheye.
 
-Only stereo visual-inertial-odometry is supported for fisheye cameras now.
+Only stereo visual-inertial-odometry is supported for fisheye cameras now. Loop closure module for fisheye camera will release later.
 
 ![Image of PCL](support_files/point_cloud.png)
 *Drone path and RGB point cloud estimation*
@@ -129,8 +129,9 @@ pub_cloud_per_direction: 0
 ```
 
 # See also
-__Autonomous aerial robot using dual‐fisheye cameras, Wenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin, Shaojie Shen, 2020 Journal of Field Robotics (JFR)__ for Fisheye camera navigation
-__H. Xu, L. Wang, Y. Zhang and S. Shen. (2020) Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. in 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE.__ for swarm localization.
+__Autonomous aerial robot using dual‐fisheye cameras, Wenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin, Shaojie Shen, 2020 Journal of Field Robotics (JFR)__ for Fisheye camera navigation. The basic idea of this project is from this paper.
+
+__H. Xu, L. Wang, Y. Zhang and S. Shen. (2020) Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. in 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE.__ for swarm localization which is this project developed for.
 
 # VINS-Fusion
 ## An optimization-based multi-sensor state estimator