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 # d435_orb_slam
 
-ROS package for running [orb_slam_2_ros](https://github.com/appliedAI-Initiative/orb_slam_2_ros) with a Realsense D435 RGBD camera.
-
-Consists of a launch file to start the camera driver and orb slam node, and the following instructions for how to set it up.
+ROS package for running [orb_slam_2_ros](https://github.com/appliedAI-Initiative/orb_slam_2_ros) with a [Realsense D435 RGBD camera](https://www.intelrealsense.com/depth-camera-d435/s).
 
 Launch files are provided for both stereo and rgbd slam modes. (`slam_stereo.launch` and `slam_rgbd.launch` respectively). 
-Stereo mode is recommended as it seems to perform much better than rgbd mode - it looks like the depth estimates are too noisy in rgbd mode.
+Stereo mode is recommended as it seems to perform much better than rgbd mode - feature depth estimates in rgbd mode appear very noisy (at least with the current configuration).
+
+![screenshot](./doc/slam_screenshot.png)
+
+**Figure**: screenshot of orb slam in action.
 
 ### Setup:
 ```{bash}
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