docs

docs/index.html

@@ -54,7 +54,7 @@
         table {
             border-collapse: collapse;
             width: 90%;
-            color: rgb(43, 43, 43);
+            color: rgb(87, 87, 87)
         }
         .table_container {
             display: flex;
@@ -250,22 +250,32 @@ <h2>Results</h2>
 </ul>
 </p>
 
-<p>
-The number of iterations is set to \(300\), but the algorithm halts when the error falls below a specified threshold. To achieve greater accuracy, this threshold is set to \(10^{-4}\), 
-resulting in most frames requiring nearly \(300\) iterations. Combined with the high damping factor, this leads to slow convergence, but it ensures more precise results.
-</p>
 
-<p>
-The algorithm was executed for only the first 50 frames (from 0 to 49) because, beyond the 50th frame, it begins to diverge due to the sharp curve of the desired trajectory. 
-The lack of loop closure detection or any other corrective techniques prevents the algorithm from recovering the correct trajectory. As a result, if the error starts to increase, 
-the triangulation of new map points becomes inaccurate, causing the algorithm to diverge.
-</p>
+<table border="0" cellpadding="0" cellspacing="0" style="width: 100%;">
+    <tr>
+        <th style="width: 80%; vertical-align: top; text-align: left; font-weight: normal;">
+            <p>
+            The number of iterations is set to 300, but the algorithm halts when the error falls below a specified threshold. To achieve greater accuracy, this threshold is set to \(10^{-4}\), 
+            resulting in most frames requiring nearly 300 iterations. Combined with the high damping factor, this leads to slow convergence, but it ensures more precise results.
+            </p>
+            <p>
+            The algorithm was executed for only the first 51 frames (from 0 to 50) because, beyond the 50th frame, it begins to diverge due to the sharp curve of the desired trajectory. 
+            The lack of loop closure detection or any other corrective techniques prevents the algorithm from recovering the correct trajectory. As a result, if the error starts to increase, 
+            the triangulation of new map points becomes inaccurate, causing the algorithm to diverge.
+            </p>
+        </th>
+        <th style="width: 20%; vertical-align: top; text-align: left">
+            <img src="media/gt_trajectory_markers.png" alt="GT Trajectory Markers" width="400"/>
+        </th>
+    </tr>
+</table>
 
 <div class="space20px"></div>
 <h3>Final results</h3>
 
 <div class="space10px"></div>
 <h4>Visual results</h4>
+<p style="font-size: small;"> Loading may be a little slow ... </p>
 <p align="center">
     <iframe src="3D_plot.html" width="900" height="600" frameborder="0"></iframe>
 </p>
@@ -381,6 +391,7 @@ <h4>Numerical results</h4>
 
 <div class="space20px"></div>
 <h3>Frames results</h3>
+<p style="font-size: small;"> Loading may be a little slow ... </p>
 <p align="center">
     <iframe src="carousel.html" width="950" height="950" frameborder="0"></iframe>
 </p>