diff --git a/experiments.tex b/experiments.tex
index 4af40dc..ed21958 100644
--- a/experiments.tex
+++ b/experiments.tex
@@ -115,19 +115,19 @@ first 144K iterations and $0.25 \cdot 10^{-3}$ for all remaining iterations.
 {
 \begin{table}[t]
 \centering
-\begin{tabular}{@{}*{10}{c}@{}}
+\begin{tabular}{@{}*{11}{c}@{}}
 \toprule
-\multicolumn{3}{c}{Network} & \multicolumn{3}{c}{Instance Motion Error} & \multicolumn{2}{c}{Camera Motion Error} &\multicolumn{2}{c}{Optical Flow Error} \\
-\cmidrule(lr){1-3}\cmidrule(lr){4-6}\cmidrule(l){7-8}\cmidrule(l){9-10}
-  FPN        & cam.       & sup.  & $E_{R}$ & $E_{t}$ & $E_{p}$ & $E_{R}^{cam}$ & $E_{t}^{cam}$ & AEE & Fl-all \\\midrule
-  $\times$   & $\times$   & 3D   & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
-  \checkmark & $\times$   & 3D   & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
-  $\times$   & \checkmark & 3D   & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
-  \checkmark & \checkmark & 3D   & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
-  $\times$   & $\times$   & flow & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
-  \checkmark & $\times$   & flow & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
-  $\times$   & \checkmark & flow & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
-  \checkmark & \checkmark & flow & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
+\multicolumn{4}{c}{Network} & \multicolumn{3}{c}{Instance Motion Error} & \multicolumn{2}{c}{Camera Motion Error} &\multicolumn{2}{c}{Optical Flow Error} \\
+\cmidrule(lr){1-4}\cmidrule(lr){5-7}\cmidrule(l){8-9}\cmidrule(l){10-11}
+  FPN        & cam.       & sup. & XYZ & $E_{R}$ & $E_{t}$ & $E_{p}$ & $E_{R}^{cam}$ & $E_{t}^{cam}$ & AEE & Fl-all \\\midrule
+  $\times$   & $\times$   & 3D   &     & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
+  \checkmark & $\times$   & 3D   &     & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
+  $\times$   & \checkmark & 3D   &     & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
+  \checkmark & \checkmark & 3D   &     & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
+  $\times$   & $\times$   & flow &     & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
+  \checkmark & $\times$   & flow &     & ?       & ?       & ?       & -             & -             & ?   & ?\%    \\
+  $\times$   & \checkmark & flow &     & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
+  \checkmark & \checkmark & flow &     & ?       & ?       & ?       & ?             & ?             & ?   & ?\%    \\
 \bottomrule
 \end{tabular}
 
@@ -147,9 +147,11 @@ only impacted by the predicted 3D object motions.
 \label{table:vkitti}
 \end{table}
 }
-
+Figure \ref{figure:vkitti} visualizes instance segmentation and optical flow
+results on the Virtual KITTI validation set.
 Table \ref{table:vkitti} compares the performance of different network variants on the Virtual KITTI validation
 set.
 
 \subsection{Evaluation on KITTI 2015}
-\todo{add this if there is enough time}
+\todo{if there is enough time,
+add evaluation (table + visualizations) of instance segmentation and composed optical flow on RGB-D frames from KITTI 2015 train}