third

README.md

@@ -7,11 +7,11 @@ It is based on hdl_graph_slam and the steps to run our system are same with hdl-
 
 [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) is an open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud). We have tested this package with Velodyne (HDL32e, VLP16) and RoboSense (16 channels) sensors in indoor and outdoor environments.
 
-##The names and functions do not change compared with hdl-graph-slam.
+## The names and functions do not change compared with hdl-graph-slam.
 
 We use a novel feature-based Lidar odometry for fast scan-matching, and use a modified GICP for keyframe matching. The backend in hdl-graph-slam is reused.  We have tested this package with Velodyne (HDL32e, HDL64,VLP16) and Ouster64 sensors in indoor and outdoor environments. The corresponding configure launch files are provided.
 
-##key modifications
+## key modifications
 src/hdl_graph_slam/imageProjection.cpp and src/hdl_graph_slam/featureAssociation.cpp are added for fast scan matching
 
 As for the fast-gicp, key modifications are taken place in fast_gicp_impl.cpp----calculate_covariances()