fixed all todos and change requests

tex/chapters/misc.tex

@@ -98,8 +98,8 @@ The quality factor is defined by
 \noindent where $\bar\mRssi_\text{wifi}$ is the average of all signal strength measurements received from the observation $\mObsVec_t^{\mRssiVec_\text{wifi}}$. An upper and lower bound is given by $l_\text{max}$ and $l_\text{min}$. 
 The quality factor is extensively discussed within \cite{Ebner-17} and \cite{Fetzer-17}.
 
-\commentByMarkus{Nochmal eine second method, meintest du third? wenn nicht versteh ich den Satz hier oder oben nicht}
-Finally, we have all necessary tools to introduce a second method to prevent impoverishment. 
+%\commentByMarkus{Nochmal eine second method, meintest du third? wenn nicht versteh ich den Satz hier oder oben nicht}
+Finally, we have all necessary tools to implement the second method to prevent impoverishment into the particle filter. 
 For this, the state transition model is extended. 
 Compared to the resampling step, as used by the first method, the transition $p(\mStateVec_{t} \mid \mStateVec_{t-1}, \mObsVec_{t-1})$ enables us to use prior measurements, which is obviously necessary for all \docWIFI{} related calculations.
 As described in chapter \ref{sec:transition}, our transition method only allows to sample particles at positions, that are actual feasible for a humans within a building e.g. no walking trough walls.