diff --git a/tex/bare_conf.tex b/tex/bare_conf.tex
index 067f4ae..26874a4 100644
--- a/tex/bare_conf.tex
+++ b/tex/bare_conf.tex
@@ -61,7 +61,9 @@
 
 
 % needed packages
-\usepackage{color}
+
+\usepackage{color, colortbl}
+%\usepackage[table]{xcolor}
 \usepackage{cite}
 \usepackage{graphicx}
 \usepackage{amsfonts}
@@ -79,6 +81,8 @@
 %\usepackage{ulem}
 
 
+
+
 % replacement for the SI package
 \newcommand{\SI}[2]{\ensuremath{#1}\text{\,#2}}
 \newcommand{\SIrange}[3]{\ensuremath{#1} to \ensuremath{#2}\text{\,#3}}
diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index bcbddbc..726d927 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -146,7 +146,8 @@
 	\begin{figure}
 		\input{gfx/eval/error_dist_nexus}
 		\caption{Error distribution of all walks conducted with the Motorola Nexus 6 for distinct percentile values.
-		Our proposed methods clearly provide an enhancement for the overall localization process.}
+		Both, \textbf{shortest} path \refeq{eq:transShortestPath} and \textbf{multi}path
+		\refeq{eq:transMultiPath} clearly provide an enhancement compared to the reference \refeq{eq:transSimple}.}
 		%\commentByFrank{percentile erwaehnt}
 		\label{fig:errorDistNexus}
 	\end{figure}
@@ -163,31 +164,52 @@
 	%\commentByFrank{fig. \ref{fig:errorDistNexus} erwaehnt}
 
 	% error values
+	%\begin{table}
+	%	\caption{Median error for walks conducted with the Nexus 6.}
+	%	\label{tbl:errNexus}
+	%	\centering
+	%	\begin{tabular}{|l|c|c|c|c|}
+	%		\hline
+	%													& Path1 				& Path2					& Path3 				& Path4 \\\hline
+	%		Simple (\refeq{eq:transSimple})				&	\SI{6.68}{\meter}	&	\SI{5.25}{\meter}	&	\SI{4.32}{\meter}	&	\SI{3.84}{\meter}	\\\hline
+	%		Shortest (\refeq{eq:transShortestPath})		&	\SI{2.72}{\meter}	&	\SI{2.98}{\meter}	&	\SI{2.48}{\meter}	&	\SI{3.06}{\meter}	\\\hline
+	%		Multipath (\refeq{eq:transMultiPath})		&	\SI{2.62}{\meter}	&	\SI{2.14}{\meter}	&	\SI{2.46}{\meter}	&	\SI{2.75}{\meter}	\\\hline
+	%	\end{tabular}
+	%\end{table}
+	%
+	%\begin{table}
+	%	\caption{Median error for walks conducted with the Galaxy S5.}
+	%	\label{tbl:errGalaxy}
+	%	\centering	
+	%	\begin{tabular}{|l|c|c|c|c|}
+	%		\hline
+	%													& Path1					& Path2					& Path3					& Path4 \\\hline
+	%		Simple (\refeq{eq:transSimple})				&	\SI{10.03}{\meter}	&	\SI{7.65}{\meter}	&	\SI{6.03}{\meter}	&	\SI{7.54}{\meter}	\\\hline
+	%		Shortest (\refeq{eq:transShortestPath})		&	\SI{ 5.86}{\meter}	&	\SI{4.14}{\meter}	&	\SI{5.14}{\meter}	&	\SI{5.20}{\meter}	\\\hline
+	%		Multipath (\refeq{eq:transMultiPath})		&	\SI{ 6.35}{\meter}	&	\SI{4.21}{\meter}	&	\SI{5.03}{\meter}	&	\SI{6.79}{\meter}	\\\hline
+	%	\end{tabular}
+	%\end{table}
+	
+	% error values
+	\definecolor{header}{rgb}{.8, .8, .8}
 	\begin{table}
-		\caption{Median error for walks conducted with the Nexus 6.}
+		\caption{Median error for all conducted walks.}
 		\label{tbl:errNexus}
 		\centering
 		\begin{tabular}{|l|c|c|c|c|}
 			\hline
-														& Path1 				& Path2					& Path3 				& Path4 \\\hline
-			Simple (\refeq{eq:transSimple})				&	\SI{6.68}{\meter}	&	\SI{5.25}{\meter}	&	\SI{4.32}{\meter}	&	\SI{3.84}{\meter}	\\\hline
-			Shortest (\refeq{eq:transShortestPath})		&	\SI{2.72}{\meter}	&	\SI{2.98}{\meter}	&	\SI{2.48}{\meter}	&	\SI{3.06}{\meter}	\\\hline
-			Multipath (\refeq{eq:transMultiPath})		&	\SI{2.62}{\meter}	&	\SI{2.14}{\meter}	&	\SI{2.46}{\meter}	&	\SI{2.75}{\meter}	\\\hline
+			\textbf{Motorola Nexus 6}							& Path1 				& Path2					& Path3 				& Path4 \\\hline
+			Simple [\refeq{eq:transSimple}]				&	\SI{6.68}{\meter}	&	\SI{5.25}{\meter}	&	\SI{4.32}{\meter}	&	\SI{3.84}{\meter}	\\\hline
+			Shortest [\refeq{eq:transShortestPath}]		&	\SI{2.72}{\meter}	&	\SI{2.98}{\meter}	&	\SI{2.48}{\meter}	&	\SI{3.06}{\meter}	\\\hline
+			Multipath [\refeq{eq:transMultiPath}]		&	\SI{2.62}{\meter}	&	\SI{2.14}{\meter}	&	\SI{2.46}{\meter}	&	\SI{2.75}{\meter}	\\\hline
+			\hline
+			\textbf{Samsung Galaxy S5}					& Path1					& Path2					& Path3					& Path4 \\\hline
+			Simple [\refeq{eq:transSimple}]				&	\SI{10.03}{\meter}	&	\SI{7.65}{\meter}	&	\SI{6.03}{\meter}	&	\SI{7.54}{\meter}	\\\hline
+			Shortest [\refeq{eq:transShortestPath}]		&	\SI{ 5.86}{\meter}	&	\SI{4.14}{\meter}	&	\SI{5.14}{\meter}	&	\SI{5.20}{\meter}	\\\hline
+			Multipath [\refeq{eq:transMultiPath}]		&	\SI{ 6.35}{\meter}	&	\SI{4.21}{\meter}	&	\SI{5.03}{\meter}	&	\SI{6.79}{\meter}	\\\hline
 		\end{tabular}
 	\end{table}
 	
-	\begin{table}
-		\caption{Median error for walks conducted with the Galaxy S5.}
-		\label{tbl:errGalaxy}
-		\centering	
-		\begin{tabular}{|l|c|c|c|c|}
-			\hline
-														& Path1					& Path2					& Path3					& Path4 \\\hline
-			Simple (\refeq{eq:transSimple})				&	\SI{10.03}{\meter}	&	\SI{7.65}{\meter}	&	\SI{6.03}{\meter}	&	\SI{7.54}{\meter}	\\\hline
-			Shortest (\refeq{eq:transShortestPath})		&	\SI{ 5.86}{\meter}	&	\SI{4.14}{\meter}	&	\SI{5.14}{\meter}	&	\SI{5.20}{\meter}	\\\hline
-			Multipath (\refeq{eq:transMultiPath})		&	\SI{ 6.35}{\meter}	&	\SI{4.21}{\meter}	&	\SI{5.03}{\meter}	&	\SI{6.79}{\meter}	\\\hline
-		\end{tabular}
-	\end{table}
 	
 	%\begin{figure}
 	%	\includegraphics{gfx/eval/bergwerk_path1_galaxy}
diff --git a/tex/gfx/eval/error_dist_nexus.eps b/tex/gfx/eval/error_dist_nexus.eps
index 00afe33..dc9fb62 100644
--- a/tex/gfx/eval/error_dist_nexus.eps
+++ b/tex/gfx/eval/error_dist_nexus.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: error_dist_nexus.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Wed Feb 10 19:53:00 2016
+%%CreationDate: Tue Feb 23 17:43:32 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 302 165
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Wed Feb 10 19:53:00 2016)
+  /CreationDate (Tue Feb 23 17:43:32 2016)
   /DOCINFO pdfmark
 end
 } ifelse
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@@ -1121,39 +1121,39 @@ stroke 2676 1530 M
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 2 3 V
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 0 2 V
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 6 2 V
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diff --git a/tex/gfx/eval/error_dist_nexus.gp b/tex/gfx/eval/error_dist_nexus.gp
index 79ab910..97c0972 100644
--- a/tex/gfx/eval/error_dist_nexus.gp
+++ b/tex/gfx/eval/error_dist_nexus.gp
@@ -4,7 +4,7 @@ set key samplen 1.0 spacing 0.8 width -5
 
 set lmargin 4.7
 set tmargin 0.3
-set rmargin 0.4
+set rmargin 1.2
 set bmargin 1.2
 
 # the first 20 values (= 10 seconds) are skipped using "tail"
@@ -28,6 +28,6 @@ set format y "\\footnotesize{%.0f \\%%}"
 
 
 plot \
-	simpleInput using ($1/100):($0/simpleLines*100) with lines title "\\footnotesize{simple}" lc rgb "#000000", \
-	multiInput using ($1/100):($0/multiLines*100) with lines title "\\footnotesize{multi}" lc rgb "#0000aa", \
-	shortInput using ($1/100):($0/shortLines*100) with lines title "\\footnotesize{shortest}" lc rgb "#aa0000", \
+	simpleInput using ($1/100):($0/simpleLines*100) with lines title "\\footnotesize{simple}" lw 1.2 lc rgb "#000000", \
+	multiInput using ($1/100):($0/multiLines*100) with lines title "\\footnotesize{multi}" lw 1.2 lc rgb "#0000cc", \
+	shortInput using ($1/100):($0/shortLines*100) with lines title "\\footnotesize{shortest}" lw 1.2 lc rgb "#cc0000", \
diff --git a/tex/gfx/eval/error_dist_nexus.tex b/tex/gfx/eval/error_dist_nexus.tex
index e786183..93f4baf 100644
--- a/tex/gfx/eval/error_dist_nexus.tex
+++ b/tex/gfx/eval/error_dist_nexus.tex
@@ -94,13 +94,13 @@
       \put(488,2040){\makebox(0,0)[r]{\strut{}\footnotesize{90 \%}}}%
       \put(488,2237){\makebox(0,0)[r]{\strut{}\footnotesize{100 \%}}}%
       \put(620,44){\makebox(0,0){\strut{}\footnotesize{0 m}}}%
-      \put(1244,44){\makebox(0,0){\strut{}\footnotesize{2 m}}}%
-      \put(1867,44){\makebox(0,0){\strut{}\footnotesize{4 m}}}%
-      \put(2491,44){\makebox(0,0){\strut{}\footnotesize{6 m}}}%
-      \put(3115,44){\makebox(0,0){\strut{}\footnotesize{8 m}}}%
-      \put(3739,44){\makebox(0,0){\strut{}\footnotesize{10 m}}}%
-      \put(4362,44){\makebox(0,0){\strut{}\footnotesize{12 m}}}%
-      \put(4986,44){\makebox(0,0){\strut{}\footnotesize{14 m}}}%
+      \put(1229,44){\makebox(0,0){\strut{}\footnotesize{2 m}}}%
+      \put(1837,44){\makebox(0,0){\strut{}\footnotesize{4 m}}}%
+      \put(2446,44){\makebox(0,0){\strut{}\footnotesize{6 m}}}%
+      \put(3054,44){\makebox(0,0){\strut{}\footnotesize{8 m}}}%
+      \put(3663,44){\makebox(0,0){\strut{}\footnotesize{10 m}}}%
+      \put(4271,44){\makebox(0,0){\strut{}\footnotesize{12 m}}}%
+      \put(4880,44){\makebox(0,0){\strut{}\footnotesize{14 m}}}%
     }%
     \gplgaddtomacro\gplfronttext{%
       \csname LTb\endcsname%
diff --git a/tex/gfx/eval/error_timed_nexus.eps b/tex/gfx/eval/error_timed_nexus.eps
index fb2de16..1dc2cde 100644
--- a/tex/gfx/eval/error_timed_nexus.eps
+++ b/tex/gfx/eval/error_timed_nexus.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: error_timed_nexus.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Wed Feb 17 14:47:42 2016
+%%CreationDate: Tue Feb 23 17:42:59 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 294 150
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Wed Feb 17 14:47:42 2016)
+  /CreationDate (Tue Feb 23 17:42:59 2016)
   /DOCINFO pdfmark
 end
 } ifelse
@@ -584,7 +584,7 @@ Z stroke
 1.000 UP
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-1.000 UL
+1.200 UL
 LTb
 0.00 0.00 0.00 C 748 1947 M
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diff --git a/tex/gfx/eval/error_timed_nexus.gp b/tex/gfx/eval/error_timed_nexus.gp
index 27e3d0d..daaeab0 100644
--- a/tex/gfx/eval/error_timed_nexus.gp
+++ b/tex/gfx/eval/error_timed_nexus.gp
@@ -91,6 +91,6 @@ unset key
 set yrange[0:13]
 set xrange[0:151]
 plot \
-	"data/err_bergwerk_path4_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
-	"data/err_bergwerk_path4_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
-	"data/err_bergwerk_path4_nexus_shortest.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
+	"data/err_bergwerk_path4_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lw 1.2 lc rgb "#000000", \
+	"data/err_bergwerk_path4_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lw 1.2 lc rgb "#0000cc", \
+	"data/err_bergwerk_path4_nexus_shortest.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lw 1.2 lc rgb "#cc0000", \
diff --git a/tex/gfx/eval/path_nexus.gp b/tex/gfx/eval/path_nexus.gp
index 74059a1..5dd9c09 100644
--- a/tex/gfx/eval/path_nexus.gp
+++ b/tex/gfx/eval/path_nexus.gp
@@ -70,7 +70,7 @@ set multiplot layout 1,1 scale 2.4,2.4 offset 0,0.1
 splot \
 	"data/floors.dat"  with lines lc rgb "#cccccc" notitle,\
 	"data/est_bergwerk_path4_nexus_multi.dat" using 1:2:3:(f4(column(0))) with lines lw 8 palette notitle,\
-	"data/est_bergwerk_path4_nexus_multi.dat" with lines lw 2 lc rgb "#000099" title "\\footnotesize{multi}",\
+	"data/est_bergwerk_path4_nexus_multi.dat" with lines lw 2 lc rgb "#0000cc" title "\\footnotesize{multi}",\
 	"data/path4.dat" with lines title "\\footnotesize{ground truth}" dashtype 3 lw 2 lc rgb "#000000" 
 	
 unset multiplot
diff --git a/tex/gfx/eval/path_nexus_detail.eps b/tex/gfx/eval/path_nexus_detail.eps
index e113ac4..c162a60 100644
--- a/tex/gfx/eval/path_nexus_detail.eps
+++ b/tex/gfx/eval/path_nexus_detail.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: path_nexus_detail.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Tue Feb 23 15:55:02 2016
+%%CreationDate: Tue Feb 23 17:31:34 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 302 226
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Tue Feb 23 15:55:02 2016)
+  /CreationDate (Tue Feb 23 17:31:34 2016)
   /DOCINFO pdfmark
 end
 } ifelse
@@ -4333,7 +4333,7 @@ stroke
 LCb setrgbcolor
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+0.00 0.00 0.80 C 2629 1823 M
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@@ -6981,7 +6981,7 @@ LTb
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 2.000 UL
 LTb
-0.00 0.00 0.60 C 1159 419 M
+0.00 0.00 0.80 C 1159 419 M
 221 0 V
 stroke
 LCb setrgbcolor
diff --git a/tex/gfx/eval/paths.eps b/tex/gfx/eval/paths.eps
index fd69dd9..676d330 100644
--- a/tex/gfx/eval/paths.eps
+++ b/tex/gfx/eval/paths.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: paths.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Tue Feb 23 14:42:32 2016
+%%CreationDate: Tue Feb 23 17:40:28 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 302 230
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Tue Feb 23 14:42:32 2016)
+  /CreationDate (Tue Feb 23 17:40:28 2016)
   /DOCINFO pdfmark
 end
 } ifelse
@@ -4515,7 +4515,7 @@ stroke
 LCb setrgbcolor
 1.500 UL
 LTb
-0.65 0.16 0.16 C 628 2671 M
+1.00 0.65 0.00 C 628 2671 M
 543 253 V
 270 126 V
 186 21 V
@@ -4570,7 +4570,7 @@ LTb
 195 0 V
 stroke
 LCb setrgbcolor
-3.000 UL
+2.000 UL
 LTb
 LT2
 LC2 setrgbcolor
@@ -7491,7 +7491,7 @@ LC2 setrgbcolor
 0.67 0.67 0.67 C LCb setrgbcolor
 1.500 UL
 LTb
-0.65 0.16 0.16 C 882 970 M
+1.00 0.65 0.00 C 882 970 M
 195 0 V
 stroke
 LCb setrgbcolor
@@ -7507,7 +7507,7 @@ LTb
 195 0 V
 stroke
 LCb setrgbcolor
-3.000 UL
+2.000 UL
 LTb
 LT2
 LC2 setrgbcolor
diff --git a/tex/gfx/eval/paths.gp b/tex/gfx/eval/paths.gp
index a04023e..5ddfb11 100644
--- a/tex/gfx/eval/paths.gp
+++ b/tex/gfx/eval/paths.gp
@@ -20,10 +20,10 @@ set zrange [-300:1600]
 
 splot \
 	"data/floors.dat" with lines lc rgb "#aaaaaa" dashtype 3 notitle,\
-	"data/path1.dat" using (column(1)+70):(column(2)-60):3	with lines lw 1.5 lc rgb "#A52A2A" title "\\footnotesize{path 1}", \
+	"data/path1.dat" using (column(1)+70):(column(2)-60):3	with lines lw 1.5 lc rgb "#FFA500" title "\\footnotesize{path 1}", \
 	"data/path2.dat" using (column(1)+60):(column(2)+60):3  with lines lw 1.5 lc rgb "#990077" title "\\footnotesize{path 2}",\
 	"data/path3.dat" using (column(1)-30):(column(2)+90):3	with lines lw 1.5 lc rgb "#00BBBB" title "\\footnotesize{path 3}",\
-	"data/path4.dat" using (column(1)-70):(column(2)-60):3	with lines lw 3.0 lc rgb "#000000" dashtype 3 title "\\footnotesize{path 4}",\
+	"data/path4.dat" using (column(1)-70):(column(2)-60):3	with lines lw 2.0 lc rgb "#000000" dashtype 3 title "\\footnotesize{path 4}",\
 	"data/startpoints_moved.dat" with points notitle pt 7 ps 1.0 lc rgb "#000000",\