Update README.md

Author: huaizheng

README.md

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 # R-VIO
 
-R-VIO is an efficient, lightweight, **robocentric** visual-inertial navigation algorithm for consistent 3D motion tracking using only a monocular camera and a single IMU. Different from the standard world-centric algorithms which directly estimate absolute motion of the mobile platform with respect to a fixed, gravity-aligned, global frame of reference, R-VIO i) estimates relative motion of higher accuracy with respect to a moving, local frame (the IMU frame here), and ii) incrementally updates global pose (orientation and position) through a composition step. This code implements our robocentric sliding-window filtering-based VIO formulation that was originally proposed in our *IROS2018* paper and further extended in our recent *IJRR* paper:
+R-VIO is an efficient, lightweight, **robocentric** visual-inertial navigation algorithm for consistent 3D motion tracking using only a monocular camera and a single IMU. Different from the standard world-centric algorithms which directly estimate absolute motion of the mobile platform with respect to a fixed, gravity-aligned, global frame of reference, R-VIO i) estimates relative motion of higher accuracy with respect to a moving, local frame (the IMU frame here), and ii) incrementally updates global pose (orientation and position) through a composition step. This code implements our robocentric sliding-window filtering-based VIO formulation that was originally proposed in our *IROS2018* paper and presented in detail in our recent *IJRR* paper:
 
 - Zheng Huai and Guoquan Huang, **Robocentric visual-inertial odometry**, *The International Journal of Robotics Research (IJRR)*, 2022: [download](https://journals.sagepub.com/doi/10.1177/0278364919853361).