diff --git a/math/boxkde/BoxGaus3D.h b/math/boxkde/BoxGaus3D.h
index 34f0fac..e915a37 100644
--- a/math/boxkde/BoxGaus3D.h
+++ b/math/boxkde/BoxGaus3D.h
@@ -173,87 +173,44 @@ private:
         // Überhangbereich links vom Bild
         for (size_t i = 0; i <= r; i++)
         {
-            val += src(ri++) - fv;
+            val = val + src(ri) - fv;
+
+			// Fix potential float error
+			if (val < 0) {
+				val = 0;
+			}
+
             dst(i) = val*iarr;
+			ri++;
         }
 
         // Bildbereich
         for (size_t i = r + 1; i < len - r; i++)
         {
-            val += src(ri++) - src(li++);
+            val = val + src(ri) - src(li);
+
+			// Fix potential float error
+			if (val < 0) {
+				val = 0;
+			}
+
             dst(i) = val*iarr;
+			ri++;
+			li++;
         }
 
         // Überhangbereich rechts vom Bild
         for (size_t i = len - r; i < len; i++)
         {
-            val += lv - src(li++);
+            val += lv - src(li);
+
+			// Fix potential float error
+			if (val < 0) {
+				val = 0;
+			}
+
             dst(i) = val*iarr;
-        }
-    }
-
-    void box(const ImageView3D<T>& src, ImageView3D<T>& dst, size_t r)
-    {
-        T iarr = (T)1.0 / (r + r + 1);
-
-        ImageView3D<T> buffer(src);
-        ImageView3D<T> buffer2(dst.getHeight(), dst.getDepth(), dst.getWidth(), dst.val_begin());
-
-        for (size_t i = 0; i < 3; i++)
-        {
-            for (size_t idx2 = 0; idx2 < buffer.getHeight(); idx2++)
-            {
-                for (size_t idx3 = 0; idx3 < buffer.getDepth(); idx3++)
-                {
-                    box1D(buffer, buffer2, buffer.getWidth(), idx2, idx3, r, iarr);
-                }
-            }
-
-            // reinteprete buffer sizes after rotation and swap data pointers
-            buffer  = ImageView3D<T>(buffer.getHeight(), buffer.getDepth(), buffer.getWidth(), buffer.val_begin());
-            buffer2 = ImageView3D<T>(buffer2.getHeight(), buffer2.getDepth(), buffer2.getWidth(), buffer2.val_begin());
-            buffer.swap(buffer2);
-        }
-
-        buffer.swap(dst);
-    }
-
-    void box1D(const ImageView3D<T>& src, ImageView3D<T>& dst, size_t len, size_t idx2, size_t idx3, size_t r, T iarr)
-    {
-        for (size_t i = 0; i < len; i++)
-        {
-            // dst(idx2, idx3, i) = src(i, idx2, idx3);
-
-            size_t li = 0; // left index
-            size_t ri = r; // right index
-
-            T fv = src(0, idx2, idx3);
-            T lv = src(len - 1, idx2, idx3);
-            T val = (r + 1)*fv;
-
-            for (size_t i = 0; i < r; i++)
-                val += src(i, idx2, idx3);
-
-            // Überhangbereich links vom Bild
-            for (size_t i = 0; i <= r; i++)
-            {
-                val += src(ri++, idx2, idx3) - fv;
-                dst(idx2, idx3, i) = val*iarr;
-            }
-
-            // Bildbereich
-            for (size_t i = r + 1; i < len - r; i++)
-            {
-                val += src(ri++, idx2, idx3) - src(li++, idx2, idx3);
-                dst(idx2, idx3, i) = val*iarr;
-            }
-
-            // Überhangbereich rechts vom Bild
-            for (size_t i = len - r; i < len; i++)
-            {
-                val += lv - src(li++, idx2, idx3);
-                dst(idx2, idx3, i) = val*iarr;
-            }
+			li++;
         }
     }
 };
diff --git a/math/boxkde/Grid3D.h b/math/boxkde/Grid3D.h
index 8093c4b..824aef4 100644
--- a/math/boxkde/Grid3D.h
+++ b/math/boxkde/Grid3D.h
@@ -105,6 +105,9 @@ public:
         return data(bin_x, bin_y, bin_z);
     }
 
+	T sum() const { return data.sum(); }
+	T minimum() const { return data.minimum(); }
+
 	T maximum(_Point3<T>& pt) const
 	{
 		_Point3<size_t> gridPt;
diff --git a/math/boxkde/Image3D.h b/math/boxkde/Image3D.h
index 4180f80..1754fa3 100644
--- a/math/boxkde/Image3D.h
+++ b/math/boxkde/Image3D.h
@@ -68,6 +68,12 @@ public:
         return _Point3<size_t>(x, y, z);
     }
 
+	TValue minimum() const
+	{
+		size_t minValueIndex = std::distance(val_begin(), std::min_element(val_begin(), val_end()));
+		return values[minValueIndex];
+	}
+
 	_Point3<size_t> maximum() const
     {
         size_t maxValueIndex = std::distance(val_begin(), std::max_element(val_begin(), val_end()));
diff --git a/smc/filtering/resampling/ParticleFilterResamplingKDE.h b/smc/filtering/resampling/ParticleFilterResamplingKDE.h
index cd6c09a..349d61f 100644
--- a/smc/filtering/resampling/ParticleFilterResamplingKDE.h
+++ b/smc/filtering/resampling/ParticleFilterResamplingKDE.h
@@ -95,10 +95,6 @@ namespace SMC {
                 NM::NavMeshLocation<Tria> tmpPos = mesh->getRandom().draw();
                 float weight = grid->fetch(tmpPos.pos.x, tmpPos.pos.y, tmpPos.pos.z);
 
-                if(weight < 0 ){
-                    int halloBulli = 666;
-                }
-
                 dl.add(tmpPos.pos, weight);
             }