diff --git a/src/index.html b/src/index.html
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@@ -140,18 +140,16 @@
         <section data-background-image="https://docs.opencv.org/4.x/singlemarkersaxes.jpg">
             <h2 class="r-fit-text text-shadow">7. Pose Estimation</h2>
             <aside class="notes" data-markdown>
-              - Now we know where there's a marker
+              - Now we know _where_ there's a marker
                 - Which way is it facing?
               - We know where the corners are
-                - We can get the angle from that
-                - Much like when we removed distortion
+              - Find out translation and rotation
+                - _complicated maths_
+                  - `solvePnP` in OpenCV (entertaining name)
+                    - "Perspective 'n' Point"
                 - If we know the size of the marker, we can calculate its distance
               - Some calibration per camera model is required
-                - Done once upfront
-              - Out the end, we get rotation and translations from the camera
-                - _complicated maths_
-                - `solvePnP` in OpenCV (entertaining name)
-                - "Perspective 'n' Point"
+                - Done once up-front
               - With simpler maths, can be turned into angles, distances etc
             </aside>
         </section>