diff --git a/examples/StereoVOExample_large.cpp b/examples/StereoVOExample_large.cpp
index c661967c0..e2caca94f 100644
--- a/examples/StereoVOExample_large.cpp
+++ b/examples/StereoVOExample_large.cpp
@@ -25,45 +25,41 @@
  */
 
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/inference/Key.h>
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/nonlinear/Marginals.h>
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/geometry/Cal3_S2Stereo.h>
-
-#include <gtsam/slam/StereoFactor.h>
-#include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/slam/StereoFactor.h>
+#include <gtsam/slam/dataset.h>
 
+#include <string>
 #include <fstream>
 #include <iostream>
-#include <sstream>
-#include <string>
 
 using namespace std;
 using namespace gtsam;
 
 int main(int argc, char** argv){
 
+  Values initial_estimate;
   NonlinearFactorGraph graph;
   const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(3,1);
-  Values initial_estimate = Values();
-  vector<double> read_vector;
-  string read_string, parse_string;
 
-  string data_folder = "C:/Users/Stephen/Documents/Borg/gtsam/Examples/Data/";
-  string calibration_loc = data_folder + "VO_calibration.txt";
-  string pose_loc = data_folder + "VO_camera_poses_large.txt";
-  string factor_loc = data_folder + "VO_stereo_factors_large.txt";
+  string calibration_loc = findExampleDataFile("VO_calibration.txt");
+  string pose_loc = findExampleDataFile("VO_camera_poses_large.txt");
+  string factor_loc = findExampleDataFile("VO_stereo_factors_large.txt");
   
   //read camera calibration info from file
-  double fx,fy,s,u,v,b;
+  // focal lengths fx, fy, skew s, principal point u0, v0, baseline b
+  double fx, fy, s, u0, v0, b;
   ifstream calibration_file(calibration_loc);
   cout << "Reading calibration info" << endl;
-  calibration_file >> fx >> fy >> s >> u >> v >> b;
+  calibration_file >> fx >> fy >> s >> u0 >> v0 >> b;
+
   //create stereo camera calibration object
-  const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u,v,b));
+  const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b));
   
   ifstream pose_file(pose_loc);
   cout << "Reading camera poses" << endl;
@@ -77,30 +73,36 @@ int main(int argc, char** argv){
     initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
   }
   
-  double x, l, uL, uR, v, X, Y, Z;
+  // camera and landmark keys
+  size_t x, l;
+
+  // pixel coordinates uL, uR, v (same for left/right images due to rectification)
+  // landmark coordinates X, Y, Z in camera frame, resulting from triangulation
+  double uL, uR, v, X, Y, Z;
   ifstream factor_file(factor_loc);
   cout << "Reading stereo factors" << endl;
   //read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
   while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {
-      graph.push_back(
-          GenericStereoFactor<Pose3,Point3>(StereoPoint2(uL, uR, v), model,
-                  Symbol('x', x), Symbol('l', l), K));
-      //if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
-      if(!initial_estimate.exists(Symbol('l',l))){
-        Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
-        //transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space
-        Point3 worldPoint = camPose.transform_from(Point3(X,Y,Z));
-        initial_estimate.insert(Symbol('l',l),worldPoint);
-      }
+    graph.push_back(
+        GenericStereoFactor<Pose3, Point3>(StereoPoint2(uL, uR, v), model,
+            Symbol('x', x), Symbol('l', l), K));
+    //if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
+    if (!initial_estimate.exists(Symbol('l', l))) {
+      Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
+      //transform_from() transforms the input Point3 from the camera pose space, camPose, to the global space
+      Point3 worldPoint = camPose.transform_from(Point3(X, Y, Z));
+      initial_estimate.insert(Symbol('l', l), worldPoint);
+    }
   }
 
   Pose3 first_pose = initial_estimate.at<Pose3>(Symbol('x',1));
-  first_pose.print("Check estimate poses:\n");
   //constrain the first pose such that it cannot change from its original value during optimization
+  // NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky
+  // QR is much slower than Cholesky, but numerically more stable
   graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose));
 
   cout << "Optimizing" << endl;
-  //create Levenberg-Marquardt optimizer to solve the initial factor graph estimate
+  //create Levenberg-Marquardt optimizer to optimize the factor graph
   LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
   Values result = optimizer.optimize();
 
@@ -109,4 +111,4 @@ int main(int argc, char** argv){
   pose_values.print("Final camera poses:\n");
 
   return 0;
-}
\ No newline at end of file
+}