diff --git a/content/CSE5519/CSE5519_E1.md b/content/CSE5519/CSE5519_E1.md
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@@ -4,13 +4,24 @@
 >
 > This topic is presented by Me. and will be the most detailed one for this course, perhaps.
 
+This topic is mainly about Depth Estimation from Monocular Images. (Boring, not even RANSAC)
+
 ## PoseNet
 
 A Convolutional Network for Real-Time 6-DOF Camera Relocalization (ICCV 2015)
 
 [link to the paper](https://arxiv.org/pdf/1505.07427)
 
+Convolutional neural network (convnet) we train to estimate camera pose directly
+from a monocular image, $I$. Our network outputs a pose
+vector $p$, given by a 3D camera position $x$ and orientation
+represented by quaternion q:
 
+$$
+p = [x, q]
+$$
+
+$q$ is a quaternion, $x$ is a 3D camera position.
 
 ## Unsupervised Learning of Depth and Ego-Motion From Video
 
@@ -24,6 +35,10 @@ Unsupervised Learning of Dense Depth, Optical Flow and Camera Pose (CVPR 2018)
 
 [link to the paper](https://openaccess.thecvf.com/content_cvpr_2018/papers/Yin_GeoNet_Unsupervised_Learning_CVPR_2018_paper.pdf)
 
+[link to the repository](https://github.com/yzcjtr/GeoNet)
+
+![GeoNet](https://notenextra.trance-0.com/CSE5519/GeoNet.jpg)
+
 ### Rigid structure constructor
 
 ### Non-rigid motion localizer
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