diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 3df8619..4a0c488 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -50,12 +50,14 @@
 	Just adding importance-factors described in \ref{sec:wallAvoidance} and \ref{sec:doorDetection} 
 	to the simple transition \refeq{eq:transSimple} addresses only minor local errors
 	% like not sticking too close to walls. In most cases this lead only to slight improvements
-	and is therefore not further evaluated. 
+	and is therefore not further evaluated.
+	To examine the contribution our approach is able to provided, we will have a closer look
+	at a long walk with many stairs, intentionally leaving the shortest path several times,
+	named path 4 (see \ref{fig:paths}).
 	%
 	
 
-	\commentByFrank{bergwerk\_path3\_galaxy}
-	
+	% all paths we evaluated
 	\begin{figure}
 		\input{gfx/eval/paths}
 		\caption{The four paths that were part of the evaluation.
@@ -68,16 +70,65 @@
 	
 	\commentByFrank{in den ersten paar sec ist die pfad-info teils hinderlich, da die genaue position noch sehr unklar ist und sich erst einstellen muss.
 	deshalb geht der fehler hier oft leicht hoch}
+	
+	\newcommand{\refSeg}[1]{$(#1)$}
+	Fig. \ref{errorTimedNexus} shows the error for the individual segments of path 1 and path 4 recorded with the Google Nexus 6.
+	Remember that we start with a uniform distribution instead of a well known pedestrian location. Therefor the first few estimations
+	reside somewhere near the center of the building and result in a very high error contribution
+	(see fig. \ref{nexusPathDetails} \refSeg{1}).
+	%
+	Even when removing those initial estimations from the error calculation, the next few seconds are still erroneous
+	due to (intentionally) bad system parameters (see \ref{sec:sensors}). Furthermore, as the pedestrian is not yet walking,
+	our proposed method is not yet able to addres those error. This can be seen in both
+	fig. \ref{fig:nexusPathDetails} \refSeg{1} (the red are in the upper left)
+	and fig \ref{fig:errorTimedNexus} \refSeg{1}.
+	%
+	However, as soon as the pedestrian starts moving down the hallway \refSeg{2} the error is reduced dramatically.
+	Adding prior knowledge centers the density in the middle of the floor, ensures the heading is directed towards
+	the shortest path and thus produces even better localisation results.
+	%
+	Directly hereafter, we ignore the shortest path \refSeg{3'} determined by the system and walk along \refSeg{3}
+	instead. Of course, this leads to a temporally increasing error, as the system needs to detect this path change
+	and takes some time to recover (see \ref{fig:errorDistNexus} \refSeg{3}). The new path to the desired destination
+	is \refSeg{3''} which is also ignored. Instead, we took a much longer route down the stairwell \refSeg{4}.
+	After this change is detected by the system, prior knowledge is able to reduce the error for segment \refSeg{5}.
+	%
+	Immediately hereafter follows a long, straight walk down the hallway. While the \docWIFI{} component pulls
+	the pedestrian into the rooms on the right side, the actual walking route was located on the left side
+	of the wall (see ground truth in fig. \ref{fig:nexusPathDetails} \refSeg{6}). While prior knowledge prevents
+	the density being draged into the office-rooms, the estimated path is still located on the wrong side
+	of the hallway. As both sides of the floor result in a route with almost the same length,
+	just knowing the pedestrian's destination is not able to provide further improvments.
+	Thus, a constant error of approximately the floor's width remains (see \ref{fig:nexusPathDetails} \refSeg{6}).
+	%
+	Due to the excellent barometer installed within the Nexus 6, the stair provides were small estimation
+	errors \refSeg{7}. Hereafter follows a critical area with high errors and multimodalities. Due to an 
+	inhouse exhibition during the time of recording, we had to leave the ground truth by a few meters.
+	Furthermore, the overcrowded areas lead to attenuated \docWIFI{} signals. Both reasons lead to the
+	density being dragged into another stairwell (see \ref{fig:nexusPathDetails}, red lines in the lower right).
+	The resulting multimodality (two staircases possible at the same time) leads to a rising error
+	\refSeg{8}, \refSeg{9}. At the end of the walk \refSeg{10} the system is able to recover, again.
+	
 		
 	% error development over time while walking along a path
 	\begin{figure}
 		\input{gfx/eval/error_timed_nexus}
-		\caption{Development of the error while walking along path 1 (upper) and path 4 (lower) using the Google Nexus 6.
+		\caption{Development of the error while walking along
+		%path 1 (upper) and
+		path 4 (lower) using the Google Nexus 6.
 		Path 4 shows increasing errors for our methods when leaving the shortest path (3) and when facing multimodalities between two
 		staircases just before the destination (9).}
 		\label{fig:errorTimedNexus}
 	\end{figure}
 	
+	\begin{figure}
+		\input{gfx/eval/path_nexus_detail}
+		\caption{Detailed path analysis depicting the individual segments of path 4. Their corresponding error contribution can
+		be seen in fig. \ref{fig:errorTimedNexus}. Even though the shortest path suggested by the system is ignored multiple
+		times ($3'$ and $3''$) our approach is still able to improve the overall localisation error.}
+		\label{fig:nexusPathDetails}
+	\end{figure}
+	
 	% overall error-distribution for nexus and galaxy
 	\begin{figure}
 		\input{gfx/eval/error_dist_nexus}
@@ -85,11 +136,17 @@
 		clearly provide an enhancement for the overall localization process.}
 		\label{fig:errorDistNexus}
 	\end{figure}
-	\begin{figure}
-		\input{gfx/eval/error_dist_galaxy}
-		\caption{Nicht so markant beim galaxy, denke aber der platz reicht eh nicht, also einfach kurz erwaehnen}
-	\end{figure}
+	%\begin{figure}
+	%	\input{gfx/eval/error_dist_galaxy}
+	%	\caption{Nicht so markant beim galaxy, denke aber der platz reicht eh nicht, also einfach kurz erwaehnen}
+	%\end{figure}
 
+	The error values for all other paths and the other smartphone are listed in table
+	\ref{tbl:errGalaxy} and \ref{tbl:errNexus}. As can be seen, adding prior knowledge
+	is able to improve the localisation for all examined situations, even when
+	leaving the suggested path or when facing bad/slow sensor readings.
+
+	% error values
 	\begin{table}
 		\centering
 		\begin{tabular}{|l|c|c|c|c|}
@@ -99,6 +156,7 @@
 			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}
+		\label{tbl:errNexus}
 		\caption{Median error for walks conducted with the Nexus 6.}
 	\end{table}
 	
@@ -111,6 +169,7 @@
 			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}
+		\label{tbl:errGalaxy}
 		\caption{Median error for walks conducted with the Galaxy S5.}
 	\end{table}
 	
@@ -128,6 +187,8 @@
 		\label{fig:bergwerkPath3Galaxy}
 	\end{figure}
 
+
+
 \begin{itemize}
   \item Nochmal kurz auf die Probleme des letzten Systems eingehen (schon teil der introduction)
 	\item Da letztes mal nur 1 Pfad, machen wir dieses mal mehrere! 
@@ -136,27 +197,6 @@
 	\item Analysiere Probleme ggf. mit schönen Grafiken.
 	\item Vergleich zum Schluss das neue System mit dem Alten um eine schöne Conclusion der Verbesserungen einzuleiten. 
 \end{itemize}
-
-\commentByFrank{we start with a uniform distribution $\mStateVec_0$}
-
-\commentByFrank{hinweis auf die verschiedenen geraete (smartphones) und unterschiede, wlan/baro}
-\commentByFrank{
-	PATH4 HAELT SICH NICHT AN DEN SHORTEST PATH.
-	GUTES BEISPIEL.
-	der pfad wechselt sogar 2x! (3. stock)
-	der shortest wird am ende etwas ungenau bei der treppe
-}
-
 \commentByFrank{sensorausfall simulieren, z.b. in der mitte, oder auf einer treppe}
 \commentByFrank{zwischendrin mal stehenbleiben und schauen ob auch das klappt}
-\commentByFrank{pfad verlassen und ganz wo anders hingehen}
-
-\commentByFrank{die reine importance selbst auf dem graphen hilft, aber nur minimal weiter}
-
-\commentByFrank{pfad4 nexus. pfadlos laeuft mit ach und krach richtig (treppenhaus, wlan schlecht)
-mit pfad laeuft es falsch, weil die andere treppe kuerzer zum ziel ist und das wlan dort besser passt}
-
 \commentByFrank{zu grosser einfluss vom pfad ist also kein allheilmittel.. kann, wie beim treppenhaus, auch nach hinten los gehen}
-
-
-\commentByFrank{path1: bad start due to nearby AP and bad parameters (path-loss too high): high starting errors: median better}
diff --git a/tex/chapters/sensors.tex b/tex/chapters/sensors.tex
index aeea29b..e0f80a8 100644
--- a/tex/chapters/sensors.tex
+++ b/tex/chapters/sensors.tex
@@ -1,4 +1,5 @@
 \section{Sensors}
+\label{sec:sensors}
 
 	\subsection{Barometer}
 	\label{sec:sensBaro}
diff --git a/tex/gfx/eval/error_timed_nexus.eps b/tex/gfx/eval/error_timed_nexus.eps
index 9e5ba08..f74e717 100644
--- a/tex/gfx/eval/error_timed_nexus.eps
+++ b/tex/gfx/eval/error_timed_nexus.eps
@@ -1,9 +1,9 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: error_timed_nexus.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Fri Feb 12 17:29:33 2016
+%%CreationDate: Sat Feb 13 11:31:04 2016
 %%DocumentFonts: 
-%%BoundingBox: 50 50 294 251
+%%BoundingBox: 50 50 294 150
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 %%BeginProlog
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@@ -441,7 +441,7 @@ SDict begin [
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-  /CreationDate (Fri Feb 12 17:29:33 2016)
+  /CreationDate (Sat Feb 13 11:31:04 2016)
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 stroke
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@@ -1315,41 +636,41 @@ LTb
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-stroke 3650 508 M
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@@ -1479,8 +800,8 @@ stroke 3650 508 M
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@@ -1489,7 +810,7 @@ stroke 3650 508 M
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 14 -29 V
 14 -25 V
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 14 -5 V
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 stroke
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 LCb setrgbcolor
 LTb
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@@ -1683,106 +1004,106 @@ stroke 2290 338 M
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 14 6 V
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 14 1 V
 14 7 V
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 14 -1 V
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 14 12 V
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 stroke
 LTb
 LCb setrgbcolor
 LTb
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@@ -1939,11 +1260,11 @@ LTb
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@@ -1951,32 +1272,32 @@ LTb
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 stroke 2178 432 M
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 14 -20 V
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@@ -1987,73 +1308,73 @@ stroke 2178 432 M
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 stroke 3636 588 M
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 stroke
 2.000 UL
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 LTb
 1.000 UL
 LTb
-607 1949 N
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 4235 0 V
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 1.000 UP
diff --git a/tex/gfx/eval/error_timed_nexus.gp b/tex/gfx/eval/error_timed_nexus.gp
index 787519a..bce8cac 100644
--- a/tex/gfx/eval/error_timed_nexus.gp
+++ b/tex/gfx/eval/error_timed_nexus.gp
@@ -1,7 +1,8 @@
-set terminal epslatex size 3.4,2.8
+#set terminal epslatex size 3.4,2.8
+set terminal epslatex size 3.4,1.4
 set output "error_timed_nexus.tex"
 
-set multiplot layout 2,1
+#set multiplot layout 2,1
 set format y "\\footnotesize{%.1f m}"
 set format x "\\footnotesize{%.0f s}"
 set key horizontal
@@ -16,28 +17,28 @@ set tmargin 0.3
 set rmargin 0.4
 set bmargin 1.2
 
-set object 1 rectangle from 0,0 to 13,17 fs solid noborder fc rgb "#eeeeee" behind		# standing
-set label 1 "\\footnotesize{1}" at 6.5,2 center rotate by 0 front
+#set object 1 rectangle from 0,0 to 13,17 fs solid noborder fc rgb "#eeeeee" behind		# standing
+#set label 1 "\\footnotesize{1}" at 6.5,2 center rotate by 0 front
 
-set object 2 rectangle from 13,0 to 34,17 fs solid noborder fc rgb "#dddddd" behind		# walk towards stair
-set label 2 "\\footnotesize{2}" at 23.5,13 center rotate by 0 front
+#set object 2 rectangle from 13,0 to 34,17 fs solid noborder fc rgb "#dddddd" behind		# walk towards stair
+#set label 2 "\\footnotesize{2}" at 23.5,13 center rotate by 0 front
 
-set object 3 rectangle from 34,0 to 45,17 fs solid noborder fc rgb "#eeeeee" behind		# walk down the stair
-set label 3 "\\footnotesize{3}" at 39.5,13 center rotate by 0 front
+#set object 3 rectangle from 34,0 to 45,17 fs solid noborder fc rgb "#eeeeee" behind		# walk down the stair
+#set label 3 "\\footnotesize{3}" at 39.5,13 center rotate by 0 front
 
-set object 4 rectangle from 45,0 to 62,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
-set label 4 "\\footnotesize{4}" at 53.5,13 center rotate by 0 front
+#set object 4 rectangle from 45,0 to 62,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
+#set label 4 "\\footnotesize{4}" at 53.5,13 center rotate by 0 front
 
-set object 5 rectangle from 62,0 to 78,17 fs solid noborder fc rgb "#eeeeee" behind		# change side of floor
-set label 5 "\\footnotesize{5}" at 70,13 center rotate by 0 front
+#set object 5 rectangle from 62,0 to 78,17 fs solid noborder fc rgb "#eeeeee" behind		# change side of floor
+#set label 5 "\\footnotesize{5}" at 70,13 center rotate by 0 front
 
-set object 6 rectangle from 78,0 to 90,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
-set label 6 "\\footnotesize{6}" at 84.5,8 center rotate by 0 front
+#set object 6 rectangle from 78,0 to 90,17 fs solid noborder fc rgb "#dddddd" behind		# walk straight
+#set label 6 "\\footnotesize{6}" at 84.5,8 center rotate by 0 front
 
-plot \
-	"data/err_bergwerk_path1_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
-	"data/err_bergwerk_path1_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
-	"data/err_bergwerk_path1_nexus_shortest.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
+#plot \
+#	"data/err_bergwerk_path1_nexus_simple.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lc rgb "#000000", \
+#	"data/err_bergwerk_path1_nexus_multi.dat"		using ($0/2):($1/100) with lines title "\\footnotesize{multi}\\hspace{-1.5mm}" lc rgb "#0000cc", \
+#	"data/err_bergwerk_path1_nexus_shortest.dat"	using ($0/2):($1/100) with lines title "\\footnotesize{shortest}\\hspace{-1.5mm}" lc rgb "#cc0000", \
 
 #plot \
 #	"data/err_bergwerk_path2_nexus_simple.dat"		using ($1/100) with lines title "raw" lc rgb "#000000", \
@@ -49,13 +50,7 @@ plot \
 #	"data/err_bergwerk_path3_nexus_multi.dat"		using ($1/100) with lines title "multi-path", \
 #	"data/err_bergwerk_path3_nexus_shortest.dat"	using ($1/100) with lines title "shortest-path", \
 	
-#set object 1 rectangle from 0,0 to 20,15 fs solid noborder fc rgb "#eeeeee" behind
-#set label 1 "\\footnotesize{setup-phase}" at 9,1 rotate by 90 front
-#set object 2 rectangle from 40,0 to 60,15 fs solid noborder fc rgb "#eeeeee" behind
-#set label 2 "\\footnotesize{ignoring}" at 46,7.4 rotate by 90 front
-#set label 3 "\\footnotesize{path}" at 52,7.4 rotate by 90 front
-#set object 4 rectangle from 128,0 to 138,15 fs solid noborder fc rgb "#eeeeee" behind
-#set label 4 "\\footnotesize{multimodality}" at 142,4.4 rotate by 90 front
+
 
 set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind	# standing
 set label 1 "\\footnotesize{1}" at 7,2 center rotate by 0 front
diff --git a/tex/gfx/eval/error_timed_nexus.tex b/tex/gfx/eval/error_timed_nexus.tex
index cffaaed..785379d 100644
--- a/tex/gfx/eval/error_timed_nexus.tex
+++ b/tex/gfx/eval/error_timed_nexus.tex
@@ -79,53 +79,16 @@
     \fi%
     \setlength{\fboxrule}{0.5pt}%
     \setlength{\fboxsep}{1pt}%
-\begin{picture}(4896.00,4030.00)%
-    \gplgaddtomacro\gplbacktext{%
-      \csname LTb\endcsname%
-      \put(475,2279){\makebox(0,0)[r]{\strut{}\footnotesize{0.0 m}}}%
-      \put(475,2477){\makebox(0,0)[r]{\strut{}\footnotesize{2.0 m}}}%
-      \put(475,2675){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
-      \put(475,2873){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
-      \put(475,3071){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
-      \put(475,3270){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
-      \put(475,3468){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
-      \put(475,3666){\makebox(0,0)[r]{\strut{}\footnotesize{14.0 m}}}%
-      \put(475,3864){\makebox(0,0)[r]{\strut{}\footnotesize{16.0 m}}}%
-      \put(607,2059){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
-      \put(1072,2059){\makebox(0,0){\strut{}\footnotesize{10 s}}}%
-      \put(1538,2059){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
-      \put(2003,2059){\makebox(0,0){\strut{}\footnotesize{30 s}}}%
-      \put(2469,2059){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
-      \put(2934,2059){\makebox(0,0){\strut{}\footnotesize{50 s}}}%
-      \put(3399,2059){\makebox(0,0){\strut{}\footnotesize{60 s}}}%
-      \put(3865,2059){\makebox(0,0){\strut{}\footnotesize{70 s}}}%
-      \put(4330,2059){\makebox(0,0){\strut{}\footnotesize{80 s}}}%
-      \put(4795,2059){\makebox(0,0){\strut{}\footnotesize{90 s}}}%
-    }%
-    \gplgaddtomacro\gplfronttext{%
-      \csname LTb\endcsname%
-      \put(2541,3812){\makebox(0,0)[r]{\strut{}\footnotesize{simple}\hspace{-1.5mm}}}%
-      \csname LTb\endcsname%
-      \put(3396,3812){\makebox(0,0)[r]{\strut{}\footnotesize{multi}\hspace{-1.5mm}}}%
-      \csname LTb\endcsname%
-      \put(4251,3812){\makebox(0,0)[r]{\strut{}\footnotesize{shortest}\hspace{-1.5mm}}}%
-      \csname LTb\endcsname%
-      \put(910,2477){\makebox(0,0){\strut{}\footnotesize{1}}}%
-      \put(1701,3567){\makebox(0,0){\strut{}\footnotesize{2}}}%
-      \put(2445,3567){\makebox(0,0){\strut{}\footnotesize{3}}}%
-      \put(3097,3567){\makebox(0,0){\strut{}\footnotesize{4}}}%
-      \put(3865,3567){\makebox(0,0){\strut{}\footnotesize{5}}}%
-      \put(4540,3071){\makebox(0,0){\strut{}\footnotesize{6}}}%
-    }%
+\begin{picture}(4896.00,2014.00)%
     \gplgaddtomacro\gplbacktext{%
       \csname LTb\endcsname%
       \put(475,264){\makebox(0,0)[r]{\strut{}\footnotesize{0.0 m}}}%
       \put(475,523){\makebox(0,0)[r]{\strut{}\footnotesize{2.0 m}}}%
       \put(475,782){\makebox(0,0)[r]{\strut{}\footnotesize{4.0 m}}}%
-      \put(475,1042){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
-      \put(475,1301){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
-      \put(475,1560){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
-      \put(475,1819){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
+      \put(475,1041){\makebox(0,0)[r]{\strut{}\footnotesize{6.0 m}}}%
+      \put(475,1300){\makebox(0,0)[r]{\strut{}\footnotesize{8.0 m}}}%
+      \put(475,1559){\makebox(0,0)[r]{\strut{}\footnotesize{10.0 m}}}%
+      \put(475,1818){\makebox(0,0)[r]{\strut{}\footnotesize{12.0 m}}}%
       \put(607,44){\makebox(0,0){\strut{}\footnotesize{0 s}}}%
       \put(1168,44){\makebox(0,0){\strut{}\footnotesize{20 s}}}%
       \put(1729,44){\makebox(0,0){\strut{}\footnotesize{40 s}}}%
@@ -138,15 +101,15 @@
     \gplgaddtomacro\gplfronttext{%
       \csname LTb\endcsname%
       \put(803,523){\makebox(0,0){\strut{}\footnotesize{1}}}%
-      \put(1364,1690){\makebox(0,0){\strut{}\footnotesize{2}}}%
-      \put(1883,1690){\makebox(0,0){\strut{}\footnotesize{3}}}%
-      \put(2234,1690){\makebox(0,0){\strut{}\footnotesize{4}}}%
-      \put(2556,1690){\makebox(0,0){\strut{}\footnotesize{5}}}%
-      \put(3117,1690){\makebox(0,0){\strut{}\footnotesize{6}}}%
-      \put(3706,1690){\makebox(0,0){\strut{}\footnotesize{7}}}%
-      \put(4057,1690){\makebox(0,0){\strut{}\footnotesize{8}}}%
-      \put(4421,1690){\makebox(0,0){\strut{}\footnotesize{9}}}%
-      \put(4702,1690){\makebox(0,0){\strut{}\footnotesize{10}}}%
+      \put(1364,1688){\makebox(0,0){\strut{}\footnotesize{2}}}%
+      \put(1883,1688){\makebox(0,0){\strut{}\footnotesize{3}}}%
+      \put(2234,1688){\makebox(0,0){\strut{}\footnotesize{4}}}%
+      \put(2556,1688){\makebox(0,0){\strut{}\footnotesize{5}}}%
+      \put(3117,1688){\makebox(0,0){\strut{}\footnotesize{6}}}%
+      \put(3706,1688){\makebox(0,0){\strut{}\footnotesize{7}}}%
+      \put(4057,1688){\makebox(0,0){\strut{}\footnotesize{8}}}%
+      \put(4421,1688){\makebox(0,0){\strut{}\footnotesize{9}}}%
+      \put(4702,1688){\makebox(0,0){\strut{}\footnotesize{10}}}%
     }%
     \gplbacktext
     \put(0,0){\includegraphics{error_timed_nexus}}%
diff --git a/tex/gfx/eval/path_nexus.gp b/tex/gfx/eval/path_nexus.gp
index 365b587..c280af2 100644
--- a/tex/gfx/eval/path_nexus.gp
+++ b/tex/gfx/eval/path_nexus.gp
@@ -1,12 +1,76 @@
+set terminal epslatex rounded size 3.5,2.45
+set output "path_nexus_detail.tex"
+
 unset xtics
 unset ytics
 unset ztics
 unset border
+unset colorbox
 set ticslevel 0
 
-set object 1 polygon from 1000,4200,1060 to 1000,5200,1060 to 1700,5200,1060 to 1700,4200,1060 fs solid noborder fc rgb "#cccccc" behind
+set view equal xy
+set zrange [-200:2000]
+
+set key at screen 0.30,0.15 samplen 1.2 box opaque width -7
+
+set view 70,50
+#set object 1 polygon from 1000,4200,1060 to 1000,5200,1060 to 1700,5200,1060 to 1700,4200,1060 fs solid noborder fc rgb "#cccccc" behind
+
+set cbrange[0:1]
+set palette gray
+
+ca = 0.8
+cb = 0.4
+
+# coloring for path4
+f4(c) =	c/2<14		? ca\
+		:c/2<36		? cb\
+		:c/2<54		? ca\
+		:c/2<65		? cb\
+		:c/2<74		? ca\
+		:c/2<105	? cb\
+		:c/2<116	? ca\
+		:c/2<130	? cb\
+		:c/2<142	? ca\
+					 :cb
+
+# init error 1
+set object 1 polygon from 1000,400,1060 to 1000,1500,1060 to 1300,1500,1060 to 1300,400,1060 fs solid noborder fc rgb "#ff8888" behind
+
+# shorter 1
+set arrow 1 from 1340, 3180, 1060 to 1340, 4050, 720 nohead lw 2 lc rgb "#00aa00" front
+set arrow 2 from 1340, 4050, 720 to 1740, 4090, 720 nohead lw 2 lc rgb "#00aa00" front
+
+# shorter 2
+set arrow 3 from 1140, 4442, 1060 to 4180, 4300, 1060 nohead lw 2 lc rgb "#00aa00" front
+set arrow 4 from 4180, 4300, 1060 to 5000, 4300, 720 nohead lw 2 lc rgb "#00aa00" front
+
+# multimod
+set arrow 5 from 6290, 4778, 190 to 6290, 5098, 190 nohead lw 2 lc rgb "#aa0000" back
+set arrow 6 from 6758,4790+160,380 to 6290, 5098, 190 nohead lw 2 lc rgb "#aa0000"  back 
+set arrow 7 from 6290, 4778, 190 to 6758,4790+000, 0 nohead lw 2 lc rgb "#aa0000" back
+
+# numbering
+set label 1 "\\footnotesize{1}" at 1692.27, 2721.79, 932.453-70 center front
+set label 2 "\\footnotesize{2}" at 1086.04, 2622.65, 1058.51+60 center front
+set label 3 "\\footnotesize{3}" at 1125.9, 3958.11, 1059.91+60 center front
+set label 98 "\\footnotesize{3'}" at 1340+250, 3580+50, 1060-130 center front
+set label 99 "\\footnotesize{3''}" at 4180, 4300, 1060+50 center front
+set label 4 "\\footnotesize{4}" at 1843.27, 5037.33, 880.035 center front
+set label 5 "\\footnotesize{5}" at 1174.22-400, 4646.68+200, 719.775 center front
+set label 6 "\\footnotesize{6}" at 3347.93, 4112.19, 720-70 center front
+set label 7 "\\footnotesize{7}" at 5724.6+250, 4159.7+150, 604.967 center front
+set label 8 "\\footnotesize{8}" at 6964.14-180, 4132.79-180, 373.646-50 center front
+set label 9 "\\footnotesize{9}" at 7077.86-150, 4235.71-150, 114.833 center front
+set label 10 "\\footnotesize{10}" at 7168.42-600, 3853.84, 0 center front
+
+set multiplot layout 1,1 scale 2.4,2.4 offset 0,0.1
+
 
 splot \
-	"data/floors.dat"  with lines lc rgb "#aaaaaa" notitle,\
-	"data/est_bergwerk_path1_nexus_multi.dat"	skip 10 with lines lw 2 lc rgb "#000000" notitle,\
-	"data/est_bergwerk_path4_nexus_multi.dat"	skip 10 with lines lw 2 lc rgb "#009900" notitle,\
+	"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/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
new file mode 100644
index 0000000..4a6a531
--- /dev/null
+++ b/tex/gfx/eval/path_nexus_detail.eps
@@ -0,0 +1,7025 @@
+%!PS-Adobe-2.0 EPSF-2.0
+%%Title: path_nexus_detail.tex
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diff --git a/tex/gfx/eval/path_nexus_detail.tex b/tex/gfx/eval/path_nexus_detail.tex
new file mode 100644
index 0000000..f3580ad
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+    \GenericError{(gnuplot) \space\space\space\@spaces}{%
+      Package color not loaded in conjunction with
+      terminal option `colourtext'%
+    }{See the gnuplot documentation for explanation.%
+    }{Either use 'blacktext' in gnuplot or load the package
+      color.sty in LaTeX.}%
+    \renewcommand\color[2][]{}%
+  }%
+  \providecommand\includegraphics[2][]{%
+    \GenericError{(gnuplot) \space\space\space\@spaces}{%
+      Package graphicx or graphics not loaded%
+    }{See the gnuplot documentation for explanation.%
+    }{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}%
+    \renewcommand\includegraphics[2][]{}%
+  }%
+  \providecommand\rotatebox[2]{#2}%
+  \@ifundefined{ifGPcolor}{%
+    \newif\ifGPcolor
+    \GPcolorfalse
+  }{}%
+  \@ifundefined{ifGPblacktext}{%
+    \newif\ifGPblacktext
+    \GPblacktexttrue
+  }{}%
+  % define a \g@addto@macro without @ in the name:
+  \let\gplgaddtomacro\g@addto@macro
+  % define empty templates for all commands taking text:
+  \gdef\gplbacktext{}%
+  \gdef\gplfronttext{}%
+  \makeatother
+  \ifGPblacktext
+    % no textcolor at all
+    \def\colorrgb#1{}%
+    \def\colorgray#1{}%
+  \else
+    % gray or color?
+    \ifGPcolor
+      \def\colorrgb#1{\color[rgb]{#1}}%
+      \def\colorgray#1{\color[gray]{#1}}%
+      \expandafter\def\csname LTw\endcsname{\color{white}}%
+      \expandafter\def\csname LTb\endcsname{\color{black}}%
+      \expandafter\def\csname LTa\endcsname{\color{black}}%
+      \expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}%
+      \expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}%
+      \expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}%
+      \expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}%
+      \expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}%
+      \expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}%
+      \expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}%
+      \expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}%
+      \expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}%
+    \else
+      % gray
+      \def\colorrgb#1{\color{black}}%
+      \def\colorgray#1{\color[gray]{#1}}%
+      \expandafter\def\csname LTw\endcsname{\color{white}}%
+      \expandafter\def\csname LTb\endcsname{\color{black}}%
+      \expandafter\def\csname LTa\endcsname{\color{black}}%
+      \expandafter\def\csname LT0\endcsname{\color{black}}%
+      \expandafter\def\csname LT1\endcsname{\color{black}}%
+      \expandafter\def\csname LT2\endcsname{\color{black}}%
+      \expandafter\def\csname LT3\endcsname{\color{black}}%
+      \expandafter\def\csname LT4\endcsname{\color{black}}%
+      \expandafter\def\csname LT5\endcsname{\color{black}}%
+      \expandafter\def\csname LT6\endcsname{\color{black}}%
+      \expandafter\def\csname LT7\endcsname{\color{black}}%
+      \expandafter\def\csname LT8\endcsname{\color{black}}%
+    \fi
+  \fi
+    \setlength{\unitlength}{0.0500bp}%
+    \ifx\gptboxheight\undefined%
+      \newlength{\gptboxheight}%
+      \newlength{\gptboxwidth}%
+      \newsavebox{\gptboxtext}%
+    \fi%
+    \setlength{\fboxrule}{0.5pt}%
+    \setlength{\fboxsep}{1pt}%
+\begin{picture}(5040.00,3528.00)%
+    \gplgaddtomacro\gplbacktext{%
+    }%
+    \gplgaddtomacro\gplfronttext{%
+      \csname LTb\endcsname%
+      \put(1027,419){\makebox(0,0)[r]{\strut{}\footnotesize{multi}}}%
+      \csname LTb\endcsname%
+      \put(1027,199){\makebox(0,0)[r]{\strut{}\footnotesize{ground truth}}}%
+      \csname LTb\endcsname%
+      \put(1027,419){\makebox(0,0)[r]{\strut{}\footnotesize{multi}}}%
+      \csname LTb\endcsname%
+      \put(1027,199){\makebox(0,0)[r]{\strut{}\footnotesize{ground truth}}}%
+      \csname LTb\endcsname%
+      \put(1747,2502){\makebox(0,0){\strut{}\footnotesize{1}}}%
+      \put(1490,3052){\makebox(0,0){\strut{}\footnotesize{2}}}%
+      \put(2068,3211){\makebox(0,0){\strut{}\footnotesize{3}}}%
+      \put(2779,2794){\makebox(0,0){\strut{}\footnotesize{4}}}%
+      \put(2319,2629){\makebox(0,0){\strut{}\footnotesize{5}}}%
+      \put(2921,2040){\makebox(0,0){\strut{}\footnotesize{6}}}%
+      \put(3937,1600){\makebox(0,0){\strut{}\footnotesize{7}}}%
+      \put(4073,919){\makebox(0,0){\strut{}\footnotesize{8}}}%
+      \put(4180,528){\makebox(0,0){\strut{}\footnotesize{9}}}%
+      \put(3955,339){\makebox(0,0){\strut{}\footnotesize{10}}}%
+      \put(2094,2752){\makebox(0,0){\strut{}\footnotesize{3'}}}%
+      \put(3296,2792){\makebox(0,0){\strut{}\footnotesize{3''}}}%
+    }%
+    \gplbacktext
+    \put(0,0){\includegraphics{path_nexus_detail}}%
+    \gplfronttext
+  \end{picture}%
+\endgroup