deletions | additions       diff --git a/section_Contributions_label_sec_contributions__.tex b/section_Contributions_label_sec_contributions__.tex  index de9e31a..8986ad3 100644  --- a/section_Contributions_label_sec_contributions__.tex  +++ b/section_Contributions_label_sec_contributions__.tex 
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variant of a particle filter was developed that aggregates estimations  over time to produce more accurate predictions. It handles the  estimates of the $k$NN algorithm in an integrative way and resolves  position ambiguities. The method operates on single images and, in  contrast to, for example visual odometry, is an absolute position system and  does not suffer from error accumulation over time.  The second contribution is a map evaluation technique that predicts