estimate_laser_plane.md

 # Estimation of the Laser Plane position
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-We will use pinhole camera model for finding 3D points in camera coordinates system ![alt text](http://mathurl.com/hj835tq.png) in projection coordinates ![alt text](http://mathurl.com/hw2kh9a.png) described as:
+We will use pinhole camera model for finding 3D points in camera coordinates system ![alt text](http://mathurl.com/hj835tq.png) from projection coordinates ![alt text](http://mathurl.com/hw2kh9a.png) described as:
 
 <img src="http://mathurl.com/hbtk24o.png" /> ,