diff --git a/tex/bare_conf.tex b/tex/bare_conf.tex
index 4d975c1..21a883d 100644
--- a/tex/bare_conf.tex
+++ b/tex/bare_conf.tex
@@ -247,6 +247,8 @@
 
 \input{chapters/usage}
 
+\input{chapters/test}
+
 \input{chapters/experiments}
 
 \input{chapters/conclusion}
diff --git a/tex/chapters/test.tex b/tex/chapters/test.tex
new file mode 100644
index 0000000..cef95f8
--- /dev/null
+++ b/tex/chapters/test.tex
@@ -0,0 +1,42 @@
+\section{Le Test}
+
+das ist nur zum testen der grafiken
+um merges beim commit zu vermeiden
+und den anderen nicht ins handwerk zu pfuschen
+zudem brauchen wir etwas text:
+
+
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat,
+sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum.
+Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua.
+At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren,
+no sea takimata sanctus est Lorem ipsum dolor sit amet.
+
+\begin{figure}
+	\input{gfx/errorOverTime.tex}
+\end{figure}
+
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat,
+sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum.
+Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua.
+At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren,
+no sea takimata sanctus est Lorem ipsum dolor sit amet.
+
+\begin{figure}
+	\input{gfx/walk.tex}
+\end{figure}
+
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat,
+sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum.
+Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.
+Lorem ipsum dolor sit amet, consetetur sadipscing elitr,
+sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua.
+At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren,
+no sea takimata sanctus est Lorem ipsum dolor sit amet.
diff --git a/tex/gfx/0_1519062756.csv b/tex/gfx/0_1519062756.csv
new file mode 100644
index 0000000..3227308
--- /dev/null
+++ b/tex/gfx/0_1519062756.csv
@@ -0,0 +1,393 @@
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+330987 4.38892
+========================================================== 
+Average of all statistical data: 
+Median: 2.08087
+Average: 2.33073
+Standard Deviation: 1.75838
+75 Quantil: 3.11237
diff --git a/tex/gfx/0_1519062956.csv b/tex/gfx/0_1519062956.csv
new file mode 100644
index 0000000..a02f175
--- /dev/null
+++ b/tex/gfx/0_1519062956.csv
@@ -0,0 +1,393 @@
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+========================================================== 
+Average of all statistical data: 
+Median: 2.15774
+Average: 2.80471
+Standard Deviation: 2.18656
+75 Quantil: 3.87289
diff --git a/tex/gfx/0_1519064452.csv b/tex/gfx/0_1519064452.csv
new file mode 100644
index 0000000..4f995c3
--- /dev/null
+++ b/tex/gfx/0_1519064452.csv
@@ -0,0 +1,393 @@
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+========================================================== 
+Average of all statistical data: 
+Median: 3.3851
+Average: 4.55857
+Standard Deviation: 3.86199
+75 Quantil: 5.18449
diff --git a/tex/gfx/avg_estimation.dat b/tex/gfx/avg_estimation.dat
new file mode 100755
index 0000000..4eccdfb
--- /dev/null
+++ b/tex/gfx/avg_estimation.dat
@@ -0,0 +1,34 @@
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diff --git a/tex/gfx/avg_particles_1.dat b/tex/gfx/avg_particles_1.dat
new file mode 100755
index 0000000..2b4bc62
--- /dev/null
+++ b/tex/gfx/avg_particles_1.dat
@@ -0,0 +1,4095 @@
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diff --git a/tex/gfx/avg_particles_2.dat b/tex/gfx/avg_particles_2.dat
new file mode 100755
index 0000000..d75762e
--- /dev/null
+++ b/tex/gfx/avg_particles_2.dat
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diff --git a/tex/gfx/base.gp b/tex/gfx/base.gp
new file mode 100755
index 0000000..063938f
--- /dev/null
+++ b/tex/gfx/base.gp
@@ -0,0 +1,235 @@
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+set output "walk.tex"
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+
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+set arrow from 61.5,24,1.7 to 47,39.5,1.7 front dt 2
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+unset border
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+#set xrange [40:*]
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+splot \
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+'avg_particles_1.dat' with points   pt 7 ps 0.2 lc rgb '#E84444' title '',\
+'-' with lines  linecolor rgb '#000000' linewidth 1.500000 dashtype 1 title "\\footnotesize{ground truth}",\
+'avg_estimation.dat' with lines  linecolor rgb '#0000ff' linewidth 3.000000 dashtype 1 title '',\
+'kde_estimation.dat' with lines  linecolor rgb '#00FF00' linewidth 3.000000 dashtype 1 title '',\
+'-' with points pt 7 ps 1.5 lc rgb '#000000' title '',\
+1/0 with points pt 7 ps 2 lc rgb '#E84444' title "\\footnotesize{particles \@ 13.4 s}",\
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+unset multiplot
diff --git a/tex/gfx/errorOverTime.eps b/tex/gfx/errorOverTime.eps
new file mode 100644
index 0000000..8990e02
--- /dev/null
+++ b/tex/gfx/errorOverTime.eps
@@ -0,0 +1,1771 @@
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diff --git a/tex/gfx/errorOverTime.tex b/tex/gfx/errorOverTime.tex
new file mode 100644
index 0000000..e976374
--- /dev/null
+++ b/tex/gfx/errorOverTime.tex
@@ -0,0 +1,112 @@
+% GNUPLOT: LaTeX picture with Postscript
+\begingroup
+  \makeatletter
+  \providecommand\color[2][]{%
+    \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}(5328.00,2880.00)%
+    \gplgaddtomacro\gplbacktext{%
+      \csname LTb\endcsname%%
+      \put(462,704){\makebox(0,0)[r]{\strut{}\footnotesize{0}}}%
+      \put(462,1247){\makebox(0,0)[r]{\strut{}\footnotesize{5}}}%
+      \put(462,1790){\makebox(0,0)[r]{\strut{}\footnotesize{10}}}%
+      \put(462,2333){\makebox(0,0)[r]{\strut{}\footnotesize{15}}}%
+      \put(594,484){\makebox(0,0){\strut{}\footnotesize{0}}}%
+      \put(1247,484){\makebox(0,0){\strut{}\footnotesize{50}}}%
+      \put(1900,484){\makebox(0,0){\strut{}\footnotesize{100}}}%
+      \put(2553,484){\makebox(0,0){\strut{}\footnotesize{150}}}%
+      \put(3207,484){\makebox(0,0){\strut{}\footnotesize{200}}}%
+      \put(3860,484){\makebox(0,0){\strut{}\footnotesize{250}}}%
+      \put(4513,484){\makebox(0,0){\strut{}\footnotesize{300}}}%
+    }%
+    \gplgaddtomacro\gplfronttext{%
+      \csname LTb\endcsname%%
+      \put(70,1681){\rotatebox{-270}{\makebox(0,0){\strut{}\footnotesize{error in meters}}}}%
+      \put(2762,154){\makebox(0,0){\strut{}\footnotesize{time in seconds}}}%
+      \csname LTb\endcsname%%
+      \put(4373,2486){\makebox(0,0)[r]{\strut{}\footnotesize{maximum particle}}}%
+      \csname LTb\endcsname%%
+      \put(4373,2266){\makebox(0,0)[r]{\strut{}\footnotesize{weighted-average particle}}}%
+      \csname LTb\endcsname%%
+      \put(4373,2046){\makebox(0,0)[r]{\strut{}\footnotesize{KDE}}}%
+    }%
+    \gplbacktext
+    \put(0,0){\includegraphics{errorOverTime}}%
+    \gplfronttext
+  \end{picture}%
+\endgroup
diff --git a/tex/gfx/errorOverTimePlotterSolo.gp b/tex/gfx/errorOverTimePlotterSolo.gp
new file mode 100644
index 0000000..f0d3b92
--- /dev/null
+++ b/tex/gfx/errorOverTimePlotterSolo.gp
@@ -0,0 +1,27 @@
+#set terminal pngcairo
+#set output "bla.png"
+
+set terminal epslatex size 3.7,2
+set output "errorOverTime.tex"
+
+set lmargin 4.5
+
+set xlabel "\\footnotesize{time in seconds}" 
+set ylabel "\\footnotesize{error in meters}" offset +1.7,0
+
+set format x "\\footnotesize{%h}"
+set format y "\\footnotesize{%h}"
+
+set key samplen 0.75
+
+set yrange [0:18]
+set xrange [0:332]
+
+set ytics 0,5,15
+
+plot \
+	"0_1519064452.csv" using ($1/1000):2 with lines lc rgb "#c8c8c8" lw 2.0 title "\\footnotesize{maximum particle}", \
+	"0_1519062756.csv" using ($1/1000):2 with lines lc rgb "#004080" lw 1.5 title "\\footnotesize{weighted-average particle}",\
+	"0_1519062956.csv" using ($1/1000):2 with lines lc rgb "#00dd00" lw 1.5 title "\\footnotesize{KDE}"
+	
+	
diff --git a/tex/gfx/kde_estimation.dat b/tex/gfx/kde_estimation.dat
new file mode 100755
index 0000000..84ee14d
--- /dev/null
+++ b/tex/gfx/kde_estimation.dat
@@ -0,0 +1,34 @@
+62.6338 37.9573 1.8
+60.7262 37.9573 1.8
+63.7238 37.6796 1.8
+59.3638 38.235 1.79998
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+52.0063 38.7904 1.80005
+51.1888 38.7904 1.79999
+50.6437 38.7904 1.80007
+49.8263 38.7904 1.80006
+49.2812 38.7904 1.80006
+48.4638 38.7904 1.79993
+47.6463 39.0681 1.79992
+47.1012 39.6235 1.79994
+47.1012 40.4565 1.80003
+46.8288 41.0119 1.80003
+47.1012 41.845 1.79998
+47.1012 42.1227 1.80003
+47.6463 42.4004 1.8001
+48.1912 43.2335 1.79996
+48.7363 44.0665 1.79995
+49.2812 44.6219 1.80008
+49.8263 44.8996 1.79989
+50.6437 45.1773 1.7999
+51.1888 45.455 1.79993
+50.0988 46.2881 1.8
diff --git a/tex/gfx/walk.eps b/tex/gfx/walk.eps
new file mode 100755
index 0000000..dd33409
--- /dev/null
+++ b/tex/gfx/walk.eps
@@ -0,0 +1,10159 @@
+%!PS-Adobe-2.0 EPSF-2.0
+%%Title: walk.tex
+%%Creator: gnuplot 5.2 patchlevel 2
+%%CreationDate: Tue Feb 20 13:12:23 2018
+%%DocumentFonts: 
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diff --git a/tex/gfx/walk.tex b/tex/gfx/walk.tex
new file mode 100755
index 0000000..72f5b1a
--- /dev/null
+++ b/tex/gfx/walk.tex
@@ -0,0 +1,103 @@
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