chapter 4 almost rewritten

changed gfx

tex/chapters/experiments.tex

@@ -68,19 +68,19 @@
 	% 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 Motorola 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).}
+		\caption{Development of the error while walking along Path 4 using the Motorola Nexus 6.
+		When leaving the suggested route (3), the error of shortest path \refeq{eq:transShortestPath}
+		and multipath \refeq{eq:transMultiPath} increases.
+		The same issues arise when facing multimodalities between two staircases just before the destination (9).}
 		\label{fig:errorTimedNexus}
 	\end{figure}
 	% detailed analysis of path 4
 	\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.}
+		\caption{Detailed path analysis depicting the individual segments of path 4 using \refeq{eq:transMultiPath}.
+		Their corresponding error 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}
 	%