diff --git a/include/basalt/optimization/spline_optimize.h b/include/basalt/optimization/spline_optimize.h
index e85b6fe..5657935 100644
--- a/include/basalt/optimization/spline_optimize.h
+++ b/include/basalt/optimization/spline_optimize.h
@@ -325,9 +325,9 @@ class SplineOptimization {
 
     ccd.pose_var_inv = pose_var_inv;
     ccd.gyro_var_inv =
-        calib->dicreete_time_gyro_noise_std().array().square().inverse();
+        calib->dicrete_time_gyro_noise_std().array().square().inverse();
     ccd.accel_var_inv =
-        calib->dicreete_time_accel_noise_std().array().square().inverse();
+        calib->dicrete_time_accel_noise_std().array().square().inverse();
     ccd.mocap_var_inv = pose_var_inv;
   }
 
diff --git a/include/basalt/vi_estimator/ba_base.h b/include/basalt/vi_estimator/ba_base.h
index dfdb604..19834eb 100644
--- a/include/basalt/vi_estimator/ba_base.h
+++ b/include/basalt/vi_estimator/ba_base.h
@@ -264,7 +264,7 @@ class BundleAdjustmentBase {
     Vec4 worldPoint = mySVD.matrixV().col(3);
     worldPoint /= worldPoint.template head<3>().norm();
 
-    // Enforse same direction of bearing vector and initial point
+    // Enforce same direction of bearing vector and initial point
     if (f0.dot(worldPoint.template head<3>()) < 0) worldPoint *= -1;
 
     return worldPoint;
diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp
index 6908a8c..9daadc3 100644
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@@ -113,9 +113,9 @@ void KeypointVioEstimator::initialize(const Eigen::Vector3d& bg,
     IntegratedImuMeasurement::Ptr meas;
 
     const Eigen::Vector3d accel_cov =
-        calib.dicreete_time_accel_noise_std().array().square();
+        calib.dicrete_time_accel_noise_std().array().square();
     const Eigen::Vector3d gyro_cov =
-        calib.dicreete_time_gyro_noise_std().array().square();
+        calib.dicrete_time_gyro_noise_std().array().square();
 
     ImuData::Ptr data;
     imu_data_queue.pop(data);
diff --git a/src/vio_sim.cpp b/src/vio_sim.cpp
index af29be8..e0efeef 100644
--- a/src/vio_sim.cpp
+++ b/src/vio_sim.cpp
@@ -595,9 +595,9 @@ void compute_projections() {
 
 void gen_data() {
   std::normal_distribution<> gyro_noise_dist{
-      0, calib.dicreete_time_gyro_noise_std()[0]};
+      0, calib.dicrete_time_gyro_noise_std()[0]};
   std::normal_distribution<> accel_noise_dist{
-      0, calib.dicreete_time_accel_noise_std()[0]};
+      0, calib.dicrete_time_accel_noise_std()[0]};
 
   std::normal_distribution<> gyro_bias_dist{0, calib.gyro_bias_std[0]};
   std::normal_distribution<> accel_bias_dist{0, calib.accel_bias_std[0]};
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index d169d69..12b6290 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit d169d697f8902ca684e41887eee3bedf91176e56
+Subproject commit 12b6290f01aa49c15cfec4d8ed8f347323678297