diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 704f233..63db0b9 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -210,7 +210,7 @@ Here, we differ between the respective anti-impoverishment techniques presented
 The simple anti-impoverishment method is added to the resampling step and thus uses the transition method presented in chapter \ref{sec:transition}.
 In contrast, the $D_\text{KL}$-based method extends the transition and thus uses a standard cumulative resampling step. 
 We set $l_\text{max} =$ \SI{-75}{dBm} and $l_\text{min} =$ \SI{-90}{dBm}.
-For a better overview, we only used the KDE-based estimation, as the errors compared to the weighted-average estimation differ by only a few centimetres.
+For a better overview, we only used the KDE-based estimation, as the errors compared to the weighted-average estimation differ by only a few centimeter.
 
 \newcommand{\STAB}[1]{\begin{tabular}{@{}c@{}}#1\end{tabular}}
 
@@ -222,13 +222,13 @@ For a better overview, we only used the KDE-based estimation, as the errors comp
 		\hline
 		  & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ \\ 
 		\hline \hline
-     	walk 0 & \SI{1340}{\centi\meter} & \SI{1115}{\centi\meter} & \SI{2265}{\centi\meter} & \SI{715}{\centi\meter} & \SI{660}{\centi\meter} & \SI{939}{\centi\meter} & \SI{576}{\centi\meter} & \SI{494}{\centi\meter} & \SI{734}{\centi\meter} \\ \hline
-		walk 1 & \SI{320}{\centi\meter} & \SI{242}{\centi\meter} & \SI{406}{\centi\meter} & \SI{322}{\centi\meter} & \SI{258}{\centi\meter} & \SI{404}{\centi\meter} & \SI{379}{\centi\meter} & \SI{317}{\centi\meter} & \SI{463}{\centi\meter} \\ \hline
-		walk 2 & \SI{834}{\centi\meter} & \SI{412}{\centi\meter} & \SI{1092}{\centi\meter} & \SI{356}{\centi\meter} & \SI{232}{\centi\meter} & \SI{486}{\centi\meter} & \SI{362}{\centi\meter} & \SI{234}{\centi\meter} & \SI{484}{\centi\meter} \\ \hline
-		walk 3 & \SI{704}{\centi\meter} & \SI{589}{\centi\meter} & \SI{1350}{\centi\meter} & \SI{538}{\centi\meter} & \SI{469}{\centi\meter} & \SI{782}{\centi\meter} & \SI{476}{\centi\meter} & \SI{431}{\centi\meter} & \SI{648}{\centi\meter} \\
+     	walk 0 & \SI{13.4}{\meter} & \SI{11.2}{\meter} & \SI{22.6}{\meter} & \SI{7.1}{\meter} & \SI{6.6}{\meter} & \SI{9.4}{\meter} & \SI{5.8}{\meter} & \SI{4.9}{\meter} & \SI{7.3}{\meter} \\ \hline
+		walk 1 & \SI{3.2}{\meter} & \SI{2.4}{\meter} & \SI{4.1}{\meter} & \SI{3.2}{\meter} & \SI{2.6}{\meter} & \SI{4.0}{\meter} & \SI{3.8}{\meter} & \SI{3.2}{\meter} & \SI{4.6}{\meter} \\ \hline
+		walk 2 & \SI{8.3}{\meter} & \SI{4.1}{\meter} & \SI{10.9}{\meter} & \SI{3.6}{\meter} & \SI{2.3}{\meter} & \SI{4.9}{\meter} & \SI{3.6}{\meter} & \SI{2.3}{\meter} & \SI{4.8}{\meter} \\ \hline
+		walk 3 & \SI{7.0}{\meter} & \SI{5.9}{\meter} & \SI{13.5}{\meter} & \SI{5.4}{\meter} & \SI{4.7}{\meter} & \SI{7.7}{\meter} & \SI{4.8}{\meter} & \SI{4.3}{\meter} & \SI{6.5}{\meter} \\
 		\hline
 	\end{tabular}
-		\caption{Overall localization results using the different impoverishment methods. The error is given by the \SI{75}{\percent}-quantil Used only kde for estimation, since kde and avg nehmen sich nicht viel. fehler kleiner als 10 cm im durchschnitt deshalb der übersichtshalber weggelassen. }
+		\caption{Overall localization results in meter using the different impoverishment methods. For estimation we used the KDE-based method, as the errors compared to the weighted-average differ by only a few centimeter. The results are presented given the average positioning error $\bar{x}$, the standard deviation $\bar{\sigma}$ and the \SI{75}{\percent}-quantil of positioning errors $\tilde{x}_{75}$.}
 	\label{table:overall}
 \end{table}
 
diff --git a/tex/chapters/transition.tex b/tex/chapters/transition.tex
index 71f16de..4ec4bc6 100644
--- a/tex/chapters/transition.tex
+++ b/tex/chapters/transition.tex
@@ -22,7 +22,7 @@
 			\label{fig:museumMapMesh}
 		\end{subfigure}
 		\caption{
-			Floorplan and transition data structures for the ground floor of the building.
+			Floorplan and transition data structures for the ground floor of the building (\SI{71}{\meter}~x~\SI{53}{\meter}).
 			To reach every nook and cranny, the graph based approach (b) requires many nodes and edges.
 			The depicted version uses a coarse node-spacing of \SI{90}{\centi\meter} (1700 nodes) and barely reaches all doors and stairs.
 			A navigation mesh (c) requires only 320 triangles to tightly reach every corner within the building.