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 # Simple AR Demo to test Visual-Inertial SLAM (VINS)
 
 
+## v3
+With this version it is possible to load trigulated mesh objects (in .obj).
+Our DIY renderer can do wireframe rendering of mesh objects. If running
+surfel_fusion node, branch VINS_kidnapping (https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping),
+this node can estimate the ground plane and compute the ground orientation
+with respect to the camera (see screenshot).
+
+![](docs/AR_image.png)
+
+![](docs/v3_screenshot.png)
+
+This version
+can subscribe to path messages from kidnap aware pose graph solver(https://github.com/mpkuse/solve_keyframe_pose_graph). This allows us
+to do correct rendering even under kidnaps. 
+
+## v2
+Implemented a new node with interactive markers. You need to run two nodes. <br/>
+a) interactive_marker_server<br/>
+b) ar_demo_node2.cpp (essentially similar to ar_demo.cpp with more bells and whistles)<br/>
+
+
 ## v1
 This is a simple ros node. Subscribes to :
 - raw input images (sensor_msg::Image)
@@ -14,13 +35,10 @@ This is a very simple node essentially just 1 file, viz., src/ar_demo_node.cpp.
 Just read and edit the code as needed.
 
 
-## v2
-Implemented a new node with interactive markers. You need to run two nodes. <br/>
-a) interactive_marker_server<br/>
-b) ar_demo_node2.cpp (essentially similar to ar_demo.cpp with more bells and whistles)<br/>
-
 Originally borrowed from [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono/tree/master/ar_demo)
 
+
+
 Contributors:
 - [Qin Tong](https://github.com/qintonguav/)
 - [Manohar Kuse](https://github.com/mpkuse/)
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