Update README.md

README.md

@@ -6,38 +6,26 @@
 ORB-SLAM2 is a real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular, and in the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. **The library can be compiled without ROS**. ORB-SLAM2 provides a GUI to change between a *SLAM Mode* and *Localization Mode*, see section 9 of this document.
 
 #####Videos showing ORB-SLAM2:
-<a href="http://www.youtube.com/watch?feature=player_embedded&v=dF7_I2Lin54
-" target="_blank"><img src="http://img.youtube.com/vi/dF7_I2Lin54/0.jpg" 
-alt="Tsukuba Dataset" width="240" height="180" border="10" /></a>
-<a href="http://www.youtube.com/watch?feature=player_embedded&v=51NQvg5n-FE
-" target="_blank"><img src="http://img.youtube.com/vi/51NQvg5n-FE/0.jpg" 
-alt="KITTI Dataset" width="240" height="180" border="10" /></a>
-<a href="http://www.youtube.com/watch?feature=player_embedded&v=LnbAI-o7YHk
-" target="_blank"><img src="http://img.youtube.com/vi/LnbAI-o7YHk/0.jpg" 
-alt="TUM RGBD Dataset" width="240" height="180" border="10" /></a>
-<a href="http://www.youtube.com/watch?feature=player_embedded&v=MUyNOEICrf8
-" target="_blank"><img src="http://img.youtube.com/vi/MUyNOEICrf8/0.jpg" 
-alt="EuRoC Dataset (V1_02, V1_03)" width="240" height="180" border="10" /></a>
-<a href="http://www.youtube.com/watch?feature=player_embedded&v=xXt90wZejwk
-" target="_blank"><img src="http://img.youtube.com/vi/xXt90wZejwk/0.jpg" 
-alt="EuRoC Dataset (V1_02, V1_03)" width="240" height="180" border="10" /></a>
-
-**Notice for ORB-SLAM Monocular users:**
-The monocular capabilities of ORB-SLAM2 compared to [ORB-SLAM Monocular](https://github.com/raulmur/ORB_SLAM) are similar. However in ORB-SLAM2 we apply a full bundle adjustment after a loop closure, the extraction of ORB is slightly different (trying to improve the dispersion on the image) and the tracking is also slightly faster. The GUI of ORB-SLAM2 also provides you new capabilities as the *modes* mentioned above and a reset button. We recommend you to try this new software :)
+
+<a href="https://www.youtube.com/embed/ufvPS5wJAx0" target="_blank"><img src="http://img.youtube.com/vi/ufvPS5wJAx0/0.jpg" 
+alt="ORB-SLAM2" width="240" height="180" border="10" /></a>
+
 
 ###Related Publications:
 
-[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics **Best Paper Award**). **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**.
+[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics **Best Paper Award**). **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**.
+
+[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. **ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras**. *ArXiv preprint arXiv:1610.06475* **[PDF](https://128.84.21.199/pdf/1610.06475.pdf)**.
 
-[2] Dorian Gálvez-López and Juan D. Tardós. **Bags of Binary Words for Fast Place Recognition in Image Sequences**. *IEEE Transactions on Robotics,* vol. 28, no. 5, pp.  1188-1197, 2012. **[PDF](http://doriangalvez.com/php/dl.php?dlp=GalvezTRO12.pdf)**
+[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. **Bags of Binary Words for Fast Place Recognition in Image Sequences**. *IEEE Transactions on Robotics,* vol. 28, no. 5, pp.  1188-1197, 2012. **[PDF](http://doriangalvez.com/php/dl.php?dlp=GalvezTRO12.pdf)**
 
 #1. License
 
 ORB-SLAM2 is released under a [GPLv3 license](https://github.com/raulmur/ORB_SLAM2/blob/master/License-gpl.txt). For a list of all code/library dependencies (and associated licenses), please see [Dependencies.md](https://github.com/raulmur/ORB_SLAM2/blob/master/Dependencies.md).
 
 For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.
 
-If you use ORB-SLAM2 in an academic work, please cite:
+If you use ORB-SLAM2 (Monocular) in an academic work, please cite:
 
     @article{murTRO2015,
       title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
@@ -50,6 +38,15 @@ If you use ORB-SLAM2 in an academic work, please cite:
       year={2015}
      }
 
+if you use ORB-SLAM2 (Stereo or RGB-D) in an academic work, please cite:
+
+    @article{murORB2,
+      title={{ORB-SLAM2}: an Open-Source {SLAM} System for Monocular, Stereo and {RGB-D} Cameras},
+      author={Mur-Artal, Ra\'ul and Tard\'os, Juan D.},
+      journal={arXiv preprint arXiv:1610.06475},
+      year={2016}
+     }
+
 #2. Prerequisites
 We have tested the library in **Ubuntu 12.04** and **14.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.