added smoothing and performance

competition/tex/chapters/performance.tex

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+\section{Performance Overview}
+% all paths we evaluated
+	\begin{figure}
+		\input{gfx/paths}
+		\caption{The four paths that were part of the evaluation.
+		Starting positions are marked with black circles.
+		For a better visualisation they were slightly shifted to avoid overlapping.}
+		%\commentByFrank{font war korrekt, aber die groesse war zu gross im vgl. zu den anderen}
+		\label{fig:paths}
+	\end{figure}
+%
+To give a brief overview of the system's performance we look back at the evaluation provided in \cite{ebner-16}.
+Here, 4 distinct walks were conducted within the faculty building (cf. fig. \ref{fig:paths}).
+No smoothing was carried out.
+We used \SI{7500}{particles} as realization and calculated the weighted arithmetic mean of the particles as state estimation. 
+The ground truth was measured by recording a timestamp at marked spots on the walking route, similar as described in the competition guidelines.
+Starting uniformly distributed, the median error for all conducted walks are listed in table \ref{tbl:errNexus} for the Motorola Nexus 6 and the Samsung Galaxy S5.
+Additionally performing a smoothing step, would further improve the results and reduces temporal errors, as shown in \cite{fetzer-16}.
+%
+	\begin{table}[h]
+		\caption{Median error for all conducted walks.}
+		\label{tbl:errNexus}
+		\centering
+		\begin{tabular}{|l|c|c|c|c|}
+			\hline
+			\textbf{Device:}							& Path1 				& Path2					& Path3 				& Path4 \\\hline
+			Motorola Nexus 6	&	\SI{2.62}{\meter}	&	\SI{2.14}{\meter}	&	\SI{2.46}{\meter}	&	\SI{2.75}{\meter}	\\\hline
+		  Samsung Galaxy S5	& \SI{ 6.35}{\meter}	&	\SI{4.21}{\meter}	&	\SI{5.03}{\meter}	&	\SI{6.79}{\meter}	\\\hline
+		\end{tabular}
+	\end{table}
+
+