diff --git a/README.md b/README.md
index b554abf..3b31341 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ This project contains tools for:
 * Visual-inertial odometry and mapping.
 * Simulated environment to test different components of the system.
 
-Some reusable components of the system are availble as a separate [header-only library](https://gitlab.com/VladyslavUsenko/basalt-headers).
+Some reusable components of the system are availble as a separate [header-only library](https://gitlab.com/VladyslavUsenko/basalt-headers)([Documentation](https://vladyslavusenko.gitlab.io/basalt-headers/)).
 
 ## Related Publications
 Visual-Inertial Odometry and Mapping:
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 4cf8e70..bb4eac2 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 4cf8e70113b1a5e8a45735787801deeebec986bb
+Subproject commit bb4eac220695fc21ab3aa121e1f7541abdc8e3bf