Correct vhar system equations

2-related-work/4-visuo-haptic-ar.tex

@@ -26,11 +26,11 @@ The \MLE model then predicts that the integrated estimated property $\tilde{s}$
 \begin{equation}{MLE}
   \tilde{s} = \sum_i w_i \tilde{s}_i \quad \text{with} \quad \sum_i w_i = 1
 \end{equation}
-Where the individual weights $w_i$ are proportional to their inverse variances:
+where the individual weights $w_i$ are proportional to their inverse variances:
 \begin{equation}{MLE_weights}
   w_i = \frac{1/\sigma_i^2}{\sigma^2}
 \end{equation}
-And the integrated variance $\sigma^2$ is the inverse of the sum of the individual variances:
+and the integrated variance $\sigma^2$ is the inverse of the sum of the individual variances:
 \begin{equation}{MLE_variance}
   \sigma^2 = \left( \sum_i \frac{1}{\sigma_i^2} \right)^{-1}
 \end{equation}