diff --git a/documentation/perception.tex b/documentation/perception.tex
new file mode 100644
index 0000000..e0a8a2d
--- /dev/null
+++ b/documentation/perception.tex
@@ -0,0 +1,46 @@
+\section{Ball detection}
+
+The very first task that needed to be accomplished was to detect the ball,
+which is uniformly red-colored and measures about 6 cm in diameter. We decided
+to use a popular algorithm based on color segmentation. The idea behind this
+algorithm is to find the biggest red area in the image and assume that this is
+the ball. First, the desired color needs to be defined as an interval of HSV
+(Hue-Saturation-Value) values. After that, the image itself needs to be
+transformed into HSV colorspace, so that the regions of interest can be
+extracted into a \textit{binary mask}. The contours of the regions can then be
+identified in a mask, and the areas of the regions can be calculated using the
+routines from the OpenCV library. The center and the radius of the region with
+the largest area are then determined and are assumed to be the center and the
+radius of the ball.
+
+It is often recommended to eliminate the noise in the binary mask by applying a
+sequence of \textit{erosions} and \textit{dilations}, but we found, that for
+the task of finding the \textit{biggest} area the noise doesn't present a
+problem, whereas performing erosions may completely delete the image of the
+ball, if it is relatively far from the robot and the camera resolution is low.
+For this reason it was decided not to process the binary mask with erosions and
+dilations, which allowed us to detect the ball even over long distances.
+
+The advantages of the presented algorithm are its speed and simplicity. The
+major downside is that the careful color calibration is required for the
+algorithm to function properly. If the HSV interval of the targeted color is
+too narrow, then the algorithm might miss the ball; if the interval is too
+wide, then other big red-shaded objects in the camera image will be detected as
+the ball. A possible approach to alleviate these issues to a certain degree
+will be presented further in this chapter. To conclude, we found this algorithm
+to be robust enough for our purposes, if the sensible color calibration was
+provided.
+
+\section{Goal detection}
+
+The goal detection presented itself as a more difficult task. The color of the
+goal is white, and there are generally many white areas in the image from the
+robot camera, which have area larger than that of the image of the goal, for
+example the white field lines and the big white wall in the room with the
+field. To deal with the multitude of the possible goal candidates, we
+propose the following algorithm.
+
+First, all contours around white areas are extracted by using a procedure
+similar to that described in the section on ball detection. Only $N$ contours
+with the largest areas are considered further (in our experiments it was
+empirically determined that $N=5$ provides good results).
diff --git a/documentation/robotum_report.tex b/documentation/robotum_report.tex
index 3e3624f..66dace5 100644
--- a/documentation/robotum_report.tex
+++ b/documentation/robotum_report.tex
@@ -40,38 +40,45 @@
 
 
 \preface
-%\input{Acknowledgements/Acknowledgements}
+% \input{Acknowledgements/Acknowledgements}
 
-\generatebody  %generates table of contents, list of figures and list of tables.
+\generatebody  % generates table of contents, list of figures and of tables.
 
-%\input{Introduction/Introduction}
+% \input{Introduction/Introduction}
 
 
 \setstretch{1.2} % set line spacing
 \input{introduction}
 \input{tools}
+\input{solintro}
+\input{perception}
 \input{jonas}
+
 % body of thesis comes here
-%\input{Body/SoftwareTools} %this loads the content of file SoftwareTools.tex in the folder Body.
-%\todo{SoftwareTools} %this is how you add a todo, it will appear in the list on page 2, and in orange in the margin where you add it.
-%\input{Body/Setup}
+% \input{Body/SoftwareTools} %this loads the content of file SoftwareTools.tex
+% in the folder Body.
+% \todo{SoftwareTools} %this is how you add a todo, it will appear in the list
+% on page 2, and in orange in the margin where you add it.
+% \input{Body/Setup}
 % \todo{Setup}
-%\input{Body/Perception}
-%\todo{Perception}
-%\input{Body/Modeling}
-%\todo{Modeling}
-%\input{Body/Motion}
+% \input{Body/Perception}
+% \todo{Perception}
+% \input{Body/Modeling}
+% \todo{Modeling}
+% \input{Body/Motion}
 
-%\input{Body/Behavior}
+% \input{Body/Behavior}
 
 
-%\input{Conclusion/Conclusion}
+% \input{Conclusion/Conclusion}
 
 \begin{appendices}
 %\input{Appendix/BehaviorImplementation}
 \end{appendices}
 
-% Bibliography, see https://de.sharelatex.com/learn/Bibliography_management_with_bibtex#Bibliography_management_with_Bibtex
+% Bibliography, see
+% https://de.sharelatex.com/learn/Bibliography_management_with_bibtex#Bibliography_management_with_Bibtex
+
 \addcontentsline{toc}{chapter}{Bibliography}
 \bibliographystyle{IEEEtran}
 \bibliography{Bibliography/Bibliography}
diff --git a/documentation/solintro.tex b/documentation/solintro.tex
new file mode 100644
index 0000000..9f6b962
--- /dev/null
+++ b/documentation/solintro.tex
@@ -0,0 +1,8 @@
+\chapter{Our solution}
+
+To achieve our objective, we identified ten big milestones that needed to be
+completed. These milestones can roughly be grouped into perception, approach
+planing, approach and the kick. In this chapter we will give our solutions to
+the problems posed by each of the milestones, and at the end the resulting goal
+scoring strategy will be presented. We will now start with the lower level
+perception milestones and will gradually introduce higher level behaviors.