From 3f6107f2a14f0bbcbb0e72d343d5fa2ade7c9123 Mon Sep 17 00:00:00 2001
From: toni <toni@localhost.localdomain>
Date: Fri, 29 Apr 2016 18:22:12 +0200
Subject: [PATCH] some minor changes again

---
 tex/bare_conf.dvi          | Bin 64448 -> 64548 bytes
 tex/chapters/smoothing.tex |   5 ++---
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/tex/bare_conf.dvi b/tex/bare_conf.dvi
index 026dca0b152e8a9d74ced4029db28a2eb78afd08..c214b59f52161638c2f305e88687b5df31d6fe03 100644
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diff --git a/tex/chapters/smoothing.tex b/tex/chapters/smoothing.tex
index 52e77a9..9f69de4 100644
--- a/tex/chapters/smoothing.tex
+++ b/tex/chapters/smoothing.tex
@@ -85,9 +85,8 @@ Unlike the transition presented in section \ref{sec:transition}, it is not possi
 Here, $p(\vec{q}_{t+1} \mid \vec{q}_{t})$ needs to provide the probability of the \textit{known} future state $\vec{q}_{t+1}$ under the condition of the current state $\vec{q}_{t}$. 
 In case of indoor localisation using particle filtering, it is necessary to not only provide the probability of moving to a particle's position under the condition of its ancestor, but also of all other particles at time $t$. 
 The smoothing transition model therefore calculates the probability of being in a state $\vec{q}_{t+1}$ in regard to previous states and the pedestrian's walking behaviour. 
-This means that a state $\vec{q}_t$ gets rewarded with a high probability, if it is a proper ancestor (realistic previous position) of a future state $\vec{q}_{t+1}$. 
-%observations von barometer und turn sind ziemlich genau. 
-%of course, instead of the line of side one could choose to calculate the the shortest path. however, this requires a trombendes calculation time and is therefore not further discussed within this work. 
+This means that a state $\vec{q}_t$ is more likely if it is a proper ancestor (realistic previous position) of a future state $\vec{q}_{t+1}$. 
+In the following a simple and inexpensive approach for receiving this information will be described.
 
 By writing
 \begin{equation}