diff --git a/content/CSE5519/CSE5519_E1.md b/content/CSE5519/CSE5519_E1.md
index 554e574..fd12677 100644
--- a/content/CSE5519/CSE5519_E1.md
+++ b/content/CSE5519/CSE5519_E1.md
@@ -318,7 +318,7 @@ $$
 p_s\sim K\hat{T}_{t\to s}\hat{D}_t(p_t)K^{-1}p_t
 $$
 
-The we use spacial transformer network to sample continuous pixel coordinates.
+Then we use spacial transformer network to sample continuous pixel coordinates.
 
 ### Compensation for PoseNet & DepthNet
 
@@ -336,7 +336,7 @@ Since it's inevitable that there are some moving objects or occlusions between t
 
 This is a method that use pair of images as Left and Right eye to estimate depth. Increased consistency by flipping the right-left relation.
 
-**Intuition:** Given a calibarated pair of binocular cameras, if we cna learn a function that is able to reconstruct one image from the other, then we have learned something about the depth of the scene.
+**Intuition:** Given a calibarated pair of binocular cameras, if we can learn a function that is able to reconstruct one image from the other, then we have learned something about the depth of the scene.
 
 ### DispNet and Scene flow
 
diff --git a/public/CSE5519/Left-right_consistency_Network.png.png b/public/CSE5519/Left-right_consistency_Network.png.png
new file mode 100644
index 0000000..fc8ef2c
Binary files /dev/null and b/public/CSE5519/Left-right_consistency_Network.png.png differ