diff --git a/.gitignore b/.gitignore
index b989be6..41c0ce1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -103,3 +103,17 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# latex related
+_minted*
+*.aux
+*.bbl
+*.out
+*.log
+*.fls
+*.aux
+*.blg
+*.synctex.gz
+*.fdb_latexmk
+*.bcf
+*.run.xml
diff --git a/tex/explanation.bib b/tex/explanation.bib
new file mode 100644
index 0000000..e69de29
diff --git a/tex/explanation.sty b/tex/explanation.sty
new file mode 100644
index 0000000..f96ec03
--- /dev/null
+++ b/tex/explanation.sty
@@ -0,0 +1,88 @@
+\ProvidesPackage{explanation}
+
+% ~~~~~~~~ %
+% PACKAGES %
+% ~~~~~~~~ %
+
+% Subtle Rasmus rigid changes to columns.
+\usepackage{microtype}
+% For language dependent spelling processing.
+\usepackage[english]{babel}
+% Encoding
+\usepackage[utf8]{inputenc}
+% Links
+\usepackage[hidelinks]{hyperref}
+% for some nice pics
+\usepackage{graphicx}
+\graphicspath{ {../img/} {../} {img/}}
+% for code highlighting
+\usepackage{minted}
+\usemintedstyle{murphy}
+% For correctly set quotes depending on language set in babel.
+\usepackage{csquotes}
+% for algorithm env
+\usepackage{algpseudocode, algorithm}
+% for subfigures
+\usepackage{subcaption}
+% for math env (amsthm for proof)
+\usepackage{mathtools,amsthm}
+% for checkmarks!
+\usepackage{amssymb}
+% for the f***ing euro symbol
+\usepackage[official]{eurosym}
+% for the f***ing degree symbol
+\usepackage{siunitx}
+% for color (e.g. in equations)
+\usepackage[usenames,dvipsnames]{xcolor}
+% for the header
+\usepackage{fancyhdr}
+% for thicker hrules
+\usepackage{booktabs}
+% For inserting a spac after own commands.
+\usepackage{xspace}
+% For horizontal lists (enumerate*)
+\usepackage[inline]{enumitem}
+% For Biblatex
+
+\usepackage[
+    style=alphabetic,
+    maxbibnames=99,
+    backend=biber % !! needs biber to be installed
+]{biblatex}
+
+% Geometrystuff
+\usepackage{geometry}
+% for own geometry configurations
+% \geometry{a4paper,left=1.5cm, right=1.5cm, top=2.5cm, bottom=2.5cm}
+
+
+% ~~~~~~~~~~~~~ %
+% OWN FUNCTIONS %
+% ~~~~~~~~~~~~~ %
+
+% For nice ceiling functions.
+\DeclarePairedDelimiter{\ceil}{\lceil}{\rceil}
+\DeclarePairedDelimiter{\floor}{\lfloor}{\rfloor}
+
+
+% Convenience functions regarding floating images.
+% <POS_SPEC> <WIDTH_PCTG> <NAME> <CAPTION> <LABEL>
+\newcommand{\picX}[5]{
+    \begin{figure}[#1]
+        \centering
+        \includegraphics[width=#2\textwidth]{#3}
+        \caption{#4}
+        #5
+    \end{figure}
+}
+
+% <NAME> <CAPTION> <LABEL>
+\newcommand{\pic}[3]{
+    \picX{H}{0.6}{#1}{#2}{#3}
+}
+
+% For nicely typeset et al.
+\newcommand{\etal}[0]{et\,al.\xspace}
+
+% For german quotes.
+\newcommand{\gq}[1]{\glqq#1\grqq}
diff --git a/tex/explanation.tex b/tex/explanation.tex
new file mode 100644
index 0000000..339d1db
--- /dev/null
+++ b/tex/explanation.tex
@@ -0,0 +1,98 @@
+\documentclass[a4paper,11pt]{article}
+
+% Add style file.
+\usepackage{explanation}
+
+% TMP...
+\usepackage{lipsum}
+
+% Add bib file for literature.
+\addbibresource{explanation.bib}
+
+\title{Implementing Deep Visual Odometry\\{\large Final Task of the course \emph{Implementing ANNs with Tensorflow}}}
+\author{Rasmus Diederichsen \and Christian Heiden \and Alexander Mock\\\and \href{mailto:rdiederichse@uos.de}{rdiederichse@uos.de}\and \href{mailto:cheiden@uos.de}{cheiden@uos.de} \and \href{mailto:amock@uos.de}{amock@uos.de}}
+
+\begin{document}
+
+% Title
+\maketitle
+
+
+% --------------------- %
+% SECTION: INTRODUCTION %
+% --------------------- %
+\section{Introduction}
+\label{sec:introduction}
+% TODO: Explain how visual odometry is useful
+% TODO: Explain the structure of this paper
+\lipsum
+
+
+% --------------- %
+% SECTION: DeepVO %
+% --------------- %
+\section{DeepVO Model}
+\label{sec:deepvo}
+% TODO: Short(!) overview
+
+
+% -------------------------- %
+% SUBSECTION: ORIGINAL PAPER %
+% -------------------------- %
+\subsection{Original Paper}
+\label{sec:deepvo:original}
+% TODO: Explain the deepVO model
+\lipsum
+
+
+% -------------------- %
+% SUBSECTION: APPROACH %
+% -------------------- %
+\subsection{Our Approach}
+\label{sec:approach}
+% TODO: Explain how we implemented the model described in the paper
+% TODO: --> This includes other implementations we found on the web? or problems we had, or simply stuff we did'nt know better
+\lipsum
+
+
+% ------------------- %
+% SECTION: EVALUATION %
+% ------------------- %
+\section{Evaluation}
+\label{sec:evaluation}
+% TODO: Short (!) overview
+
+
+% --------------------------- %
+% SUBSECTION: DATA ACQUISTION %
+% --------------------------- %
+\subsection{Data Acquisition}
+\label{sec:evaluation:data}
+% TODO: What data are we working with
+% TODO: --> Show images of robot and the camera and maybe poses in rviz
+
+
+% ------------------- %
+% SUBSECTION: RESULTS %
+% ------------------- %
+\subsection{Results}
+\label{sec:evaluation:results}
+% TODO: Show the results
+
+
+% ---------------------- %
+% SUBSECTION: GREETINGS %
+% ---------------------- %
+\section{Room for Nonsense}
+\label{sec:nonsense}
+% TODO: Whatever is missing put it in here?!
+
+
+% --------------------- %
+% SECTION: BIBLIOGRAPHY %
+% --------------------- %
+\newpage
+\printbibliography
+
+
+\end{document}