diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst index 72ae8323e..1329af64c 100644 --- a/docs/source/version_history.rst +++ b/docs/source/version_history.rst @@ -1532,8 +1532,8 @@ Origins ======= Ceres Solver grew out of the need for general least squares solving at -Google. In early 2010, Sameer Agarwal and Fredrik Schaffalitzky -started the development of Ceres Solver. Fredrik left Google shortly +Google. In early 2010, Sameer Agarwal and Frederik Schaffalitzky +started the development of Ceres Solver. Frederik left Google shortly thereafter and Keir Mierle stepped in to take his place. After two years of on-and-off development, Ceres Solver was released as open source in May of 2012.