feat(docs): Implement review suggestions (#510)

Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>

Author: max-rosin

doc/architecture/reference_points_coordinate_systems.adoc

@@ -6,21 +6,21 @@ OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between
 
 OSI uses three coordinate systems:
 
-World coordinates::
+World coordinate system::
 Coordinate system for all quantities which are part of ground truth.
 The world coordinate system is an inertial x/y/z-coordinate system.
 
-Sensor coordinates::
+Sensor coordinate system::
 Coordinate system for all quantities which are part of sensor data.
 The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology.
 
-Object coordinates::
+Object coordinate system::
 Coordinate system for local object coordinates, for example, vehicle coordinates.
-For vehicles, the origin is the middle of the rear axle.
+For vehicles, the origin is the middle of the rear axle projected onto the ground.
 Other objects may use different origins.
 
-The following images shows an example of the differents coordinate systems.
-It also shows that the reference point of the vehicle is located in the center of its bounding box whereas the origin of the vehicle coordinate system is located on the rear axle.
+The following image shows an example of the differents coordinate systems.
+It also shows that the reference point of the vehicle is located in the center of its bounding box whereas the origin of the vehicle coordinate system is the middle of rear axle projected onto the ground.
 In this example, the virtual mounting position coincides with the origin of the vehicle coordinate system.
 
 image::{imagedir}/osi_coordinate_systems.png[]

doc/images/osi_coordinate_systems.png

@@ -19,4 +19,4 @@ The middle of the rear axle is
 
 ``SensorData::mounting_position``::
 Defines the sensor’s position and orientation and thereby the origin of the sensor coordinate system.
-The mounting position is defined in sensor coordinates and relative to the origin of the vehicle coordinate system.
+The mounting position is given in the vehicle coordinate system.