diff --git a/tex/chapters/misc.tex b/tex/chapters/misc.tex
index d103c29..a1b13fc 100644
--- a/tex/chapters/misc.tex
+++ b/tex/chapters/misc.tex
@@ -102,10 +102,13 @@ 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. 
 If a particle targets a position which is not walk-able e.g. behind a wall, we draw a new position within a very small, but reachable area around its current position. 
-%To prevent sample impoverishment we extend our transition method.
-Instead of such a small are or even the complete building, as suggested in method one, we now define a sphere.
-\todo{radius ist falsch! all connected triangles... warte aber noch aufs franks transition teil.}
-The radius is given by $D_\text{KL} \cdot q(\mObsVec_t^{\mRssiVec_\text{wifi}})$ and particles are drawn uniformly on the mesh enclosed by the sphere.
+%
+%Instead of such a small area or even the complete building, as suggested in method one, we now define a sphere.
+To prevent sample impoverishment we extend this transition method by making the reachable area depended upon $D_\text{KL}$ and the \docWIFI{} quality factor.
+Particles are thus drawn uniformly on a sub-region of the mesh, given by a radius $ r_\text{sub} = D_\text{KL} \cdot q(\mObsVec_t^{\mRssiVec_\text{wifi}})$.
+The sub-region consists of all walk-able and connected triangles within $r_\text{sub}$, including stairs and elevators.
+%\todo{radius ist falsch! all connected triangles... warte aber noch aufs franks transition teil.}
+%The radius is given by $D_\text{KL} \cdot q(\mObsVec_t^{\mRssiVec_\text{wifi}})$ and particles are drawn uniformly on the mesh enclosed by the sphere.
 This allows to increase the diversity of particles by the means of \docWIFI{}, allowing to ignore any restrictions made by the system, as long as the difference between $\probGrid_{t, \text{wifi}}$ and the posterior is high. 
 The subsequent evaluation step of the particle filter then reweights the particles, so that only those in proper regions will survive the resampling.