diff --git a/doc/gtsam-coordinate-frames.lyx b/doc/gtsam-coordinate-frames.lyx
index 33d0dd977..cfb44696b 100644
--- a/doc/gtsam-coordinate-frames.lyx
+++ b/doc/gtsam-coordinate-frames.lyx
@@ -2291,15 +2291,11 @@ uncalibration
  used in the residual).
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-\begin_layout Standard
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 \begin_layout Section
 Noise models of prior factors
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-\begin_layout Plain Layout
+\begin_layout Standard
 The simplest way to describe noise models is by an example.
  Let's take a prior factor on a 3D pose 
 \begin_inset Formula $x\in\SE 3$
@@ -2353,7 +2349,7 @@ e\left(x\right)=\norm{h\left(x\right)}_{\Sigma}^{2}=h\left(x\right)^{\t}\Sigma^{
  useful answer out quickly ]
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-\begin_layout Plain Layout
+\begin_layout Standard
 The density induced by a noise model on the prior factor is Gaussian in
  the tangent space about the linearization point.
  Suppose that the pose is linearized at 
@@ -2431,7 +2427,7 @@ Here we see that the update
 .
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-\begin_layout Plain Layout
+\begin_layout Standard
 This means that to draw random pose samples, we actually draw random samples
  of 
 \begin_inset Formula $\delta x$
@@ -2456,7 +2452,7 @@ This means that to draw random pose samples, we actually draw random samples
 Noise models of between factors
 \end_layout
 
-\begin_layout Plain Layout
+\begin_layout Standard
 The noise model of a BetweenFactor is a bit more complicated.
  The unwhitened error is
 \begin_inset Formula 
@@ -2516,11 +2512,6 @@ e\left(\delta x_{1}\right) & \approx\norm{\log\left(z^{-1}\left(x_{1}\exp\delta
 \end_inset
 
 
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diff --git a/doc/gtsam-coordinate-frames.pdf b/doc/gtsam-coordinate-frames.pdf
index 3613ef0ac..77910b4cf 100644
Binary files a/doc/gtsam-coordinate-frames.pdf and b/doc/gtsam-coordinate-frames.pdf differ