diff --git a/tex/bare_conf.dvi b/tex/bare_conf.dvi
index 670a7e4..420cc71 100644
Binary files a/tex/bare_conf.dvi and b/tex/bare_conf.dvi differ
diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex
index 6d97a45..8cda86d 100644
--- a/tex/chapters/experiments.tex
+++ b/tex/chapters/experiments.tex
@@ -98,14 +98,14 @@ The BS has a similar improvement rate.
 \begin{figure}
 \centering
 	\input{gfx/eval/interval_path2_compare/path2_interval_compare}
-	\caption{Left: Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. Right: A situation where smoothing provides a worse error in regard to the ground truth, but obviously a more realistic path.}
+	\caption{a) Exemplary results for path 2 where BS (blue) and filtering (green) using 2500 particles and 500 sample realisations. b) A situation where smoothing provides a worse error in regard to the ground truth, but obviously a more realistic path.}
 	\label{fig:int_path2}
 \end{figure}
 %
 Two visual examples of the smoothing outcome for path 2 are illustrated in fig. \ref{fig:int_path2}.
 It can be clearly seen, how the smoothing compensates for the faulty detected floor changes using future knowledge. 
 Additionally, the initial error is reduced extremely, approximating the pedestrian's starting position down to a few centimetres.
-In the context of reducing the error as far as possible, the right side of fig. \ref{fig:int_path2} is a very interesting example. 
+In the context of reducing the error as far as possible, fig. \ref{fig:int_path2} b) is a very interesting example. 
 Here, the filter offers a lower approximation and positional error in regard to the ground truth. 
 However it is obvious that smoothing causes the estimation to behave more natural instead of walking the supposed path. 
 This phenomena could be observed for both smoothers respectively.
diff --git a/tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps b/tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
index 9af1e3e..31f7c03 100644
--- a/tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
+++ b/tex/gfx/eval/interval_path2_compare/path2_interval_compare.eps
@@ -1,7 +1,7 @@
 %!PS-Adobe-2.0 EPSF-2.0
 %%Title: path2_interval_compare.tex
 %%Creator: gnuplot 5.0 patchlevel 1
-%%CreationDate: Mon May  9 16:06:30 2016
+%%CreationDate: Mon May  9 16:38:10 2016
 %%DocumentFonts: 
 %%BoundingBox: 50 50 294 150
 %%EndComments
@@ -441,7 +441,7 @@ SDict begin [
   /Author (kazu)
 %  /Producer (gnuplot)
 %  /Keywords ()
-  /CreationDate (Mon May  9 16:06:30 2016)
+  /CreationDate (Mon May  9 16:38:10 2016)
   /DOCINFO pdfmark
 end
 } ifelse
@@ -3039,14 +3039,14 @@ LTb
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-452 22 N
-0 220 V
-3954 0 V
-0 -220 V
-452 22 L
+3397 23 N
+0 440 V
+1449 0 V
+0 -440 V
+3397 23 L
 Z stroke
-452 242 M
-3954 0 V
+3397 463 M
+1449 0 V
 stroke
 0.60 0.60 0.60 C 3683 633 M
 -41 -8 V
@@ -5450,7 +5450,7 @@ stroke 2971 1723 M
 15 -4 V
 12 -6 V
 27 -3 V
-1640 132 M
+4585 353 M
 129 0 V
 stroke
 LCb setrgbcolor
@@ -5614,23 +5614,23 @@ stroke 3175 1786 M
 11 -3 V
 9 0 V
 21 -2 V
-4145 132 M
+4585 133 M
 129 0 V
 stroke
 LCw setrgbcolor
-1.000 452 22 3954 220 BoxColFill
+1.000 3397 23 1449 440 BoxColFill
 1.000 UL
 LTb
 LCb setrgbcolor
 LTb
-452 22 N
-0 220 V
-3954 0 V
-0 -220 V
-452 22 L
+3397 23 N
+0 440 V
+1449 0 V
+0 -440 V
+3397 23 L
 Z stroke
-452 242 M
-3954 0 V
+3397 463 M
+1449 0 V
 stroke
 0.60 0.60 0.60 C 1.000 UL
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@@ -7324,13 +7324,13 @@ LC1 setrgbcolor
 0.00 0.00 0.00 C LCb setrgbcolor
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 LTb
-0.00 1.00 0.00 C 1640 132 M
+0.00 1.00 0.00 C 4585 353 M
 129 0 V
 stroke
 LCb setrgbcolor
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-0.00 0.00 1.00 C 4145 132 M
+0.00 0.00 1.00 C 4585 133 M
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diff --git a/tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex b/tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
index bf9d98b..9ff3326 100644
--- a/tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
+++ b/tex/gfx/eval/interval_path2_compare/path2_interval_compare.tex
@@ -81,20 +81,26 @@
     \setlength{\fboxsep}{1pt}%
 \begin{picture}(4896.00,2014.00)%
     \gplgaddtomacro\gplbacktext{%
+      \csname LTb\endcsname%
+      \put(24,1932){\makebox(0,0)[l]{\strut{}\footnotesize{a)}}}%
+      \put(2472,1932){\makebox(0,0)[l]{\strut{}\footnotesize{b)}}}%
     }%
     \gplgaddtomacro\gplfronttext{%
     }%
     \gplgaddtomacro\gplbacktext{%
+      \csname LTb\endcsname%
+      \put(24,1932){\makebox(0,0)[l]{\strut{}\footnotesize{a)}}}%
+      \put(2472,1932){\makebox(0,0)[l]{\strut{}\footnotesize{b)}}}%
     }%
     \gplgaddtomacro\gplfronttext{%
       \csname LTb\endcsname%
-      \put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
+      \put(4453,353){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
       \csname LTb\endcsname%
-      \put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
+      \put(4453,133){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
       \csname LTb\endcsname%
-      \put(1508,132){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
+      \put(4453,353){\makebox(0,0)[r]{\strut{}\footnotesize{filtered}}}%
       \csname LTb\endcsname%
-      \put(4013,132){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
+      \put(4453,133){\makebox(0,0)[r]{\strut{}\footnotesize{smoothed (BS)}}}%
     }%
     \gplbacktext
     \put(0,0){\includegraphics{path2_interval_compare}}%
diff --git a/tex/gfx/eval/interval_path2_compare/vis.gp b/tex/gfx/eval/interval_path2_compare/vis.gp
index c1db001..c30d312 100644
--- a/tex/gfx/eval/interval_path2_compare/vis.gp
+++ b/tex/gfx/eval/interval_path2_compare/vis.gp
@@ -19,6 +19,9 @@ unset ztics
 
 set multiplot layout 1,2 scale 2.45,2.45 offset -0.005,0.23
 
+set label 1 "\\footnotesize{a)}" at screen 0.005,0.96
+set label 2 "\\footnotesize{b)}" at screen 0.505,0.96
+
 unset key
 splot \
 	'floors.dat' notitle with lines lc rgb '#999999', \
@@ -26,8 +29,9 @@ splot \
 	'../interval_path2_good/BS/est_norm_bergwerk_path2_galaxy_simple_interval7.dat'	skip 21 notitle with lines lw 1.0 lc rgb '#00FF00', \
 	'../interval_path2_good/BS/est_smooth_bergwerk_path2_galaxy_simple_interval7.dat'	skip 21 notitle with lines lw 1.0 lc rgb '#0000FF'
 
+#set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1
+set key at screen 0.99,0.23 opaque box samplen 0.5 width -7.0
 
-set key at screen 0.9,0.12 opaque box samplen 0.5 width -7.0 maxrows 1
 splot \
 	'floors.dat' notitle with lines lc rgb '#999999', \
 	'../interval_path2_bad/path2.dat' notitle with lines lw 1.0 dashtype 2 lc rgb '#000000', \