rotation_table.md

@@ -20,7 +20,7 @@ regulator :
 ## Finding the rotation axis of table
 The rotation axis can be found when we put the calibration chessboard on the table and collect some images with different rotations. Thus, we can find transformations between these boards and camera and determine the rotation axis of table.
 
-We are looking for axis described as direction vector ![alt text](http://mathurl.com/jm7yc4a.png) and translation vector ![alt text](http://mathurl.com/hrfjerk.png). 
+We are looking for axis described as a direction vector ![alt text](http://mathurl.com/jm7yc4a.png) and a translation vector ![alt text](http://mathurl.com/hrfjerk.png). 
 
 On following image we can see some basic relations between our coordinate systems. All we know are [R|t] transformations between camera coordinates and both board coordinates (green and red). 
 
@@ -69,7 +69,7 @@ Previous equation is over-determined so we can't use casual inversion. Therefore
 
 ### Translation and direction vector in camera
 
-To transform both direction vector ![alt text](http://mathurl.com/jm7yc4a.png) and translation vector ![alt text](http://mathurl.com/hrfjerk.png), we use equation:
+To transform both the direction vector ![alt text](http://mathurl.com/jm7yc4a.png) and the translation vector ![alt text](http://mathurl.com/hrfjerk.png), we use equation:
 
 ![alt text](http://mathurl.com/zpcvd9v.png),