diff --git a/README.rst b/README.rst
index 8ac1104..346515b 100644
--- a/README.rst
+++ b/README.rst
@@ -22,7 +22,7 @@ Purpose
=======
`Cartographer`_ is a system that provides real-time simultaneous localization
-and mapping `SLAM`_ in 2D and 3D across multiple platforms and sensor
+and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
configurations.
|video|
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 6a459b3..5c98ade 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -256,8 +256,8 @@ texinfo_documents = [
('index', 'Cartographer', u'Cartographer Documentation',
u'The Cartographer Authors', 'Cartographer',
'Cartographer is a system that provides real-time simultaneous '
- 'localization and mapping (SLAM) across multiple platforms and sensor '
- 'configurations.', 'Miscellaneous'),
+ 'localization and mapping (SLAM) in 2D and 3D across multiple platforms '
+ 'and sensor configurations.', 'Miscellaneous'),
]
# Documents to append as an appendix to all manuals.
diff --git a/docs/source/index.rst b/docs/source/index.rst
index c6ee5bf..bf46fd3 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -21,7 +21,8 @@ Cartographer
:hidden:
`Cartographer`_ is a system that provides real-time simultaneous localization
-and mapping `SLAM`_ across multiple platforms and sensor configurations.
+and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
+configurations.
.. _Cartographer: https://github.com/googlecartographer/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
diff --git a/package.xml b/package.xml
index 1824084..6c7118a 100644
--- a/package.xml
+++ b/package.xml
@@ -20,7 +20,8 @@
1.0.0
Cartographer is a system that provides real-time simultaneous localization
- and mapping (SLAM) across multiple platforms and sensor configurations.
+ and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+ configurations.
The Cartographer Authors