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-# Documentation of perception component
-
-This folder contains further documentation of the perception components.
-
-1. [Vision Node](./vision_node.md)
-   - The Visison Node provides an adaptive interface that is able to perform object-detection and/or image-segmentation on multiple cameras at the same time.
-2. [Position Heading Filter Debug Node](./position_heading_filter_debug_node.md)
-3. [Kalman Filter](./kalman_filter.md)
-4. [Position Heading Publisher Node](./position_heading_publisher_node.md)
-5. [Distance to Objects](./distance_to_objects.md)
-6. [Traffic Light Detection](./traffic_light_detection.md)
-7. [Coordinate Transformation (helper functions)](./coordinate_transformation.md)
-8. [Dataset Generator](./dataset_generator.md)
-9. [Dataset Structure](./dataset_structure.md)
-10. [Lidar Distance Utility](./lidar_distance_utility.md)
-    1. not used since paf22
-11. [Efficient PS](./efficientps.md)
-    1. not used scince paf22 and never successfully tested
-
-## Overview Localization
+# Documentation of Perception
+
+This folder contains documentation of the perception components.
+
+In the following diagram you can see all the nodes and topics used in the perception, to show how they work together.
+
+![Perception Overview](../../doc/assets/perception/perception_overview.png)
+
+## Object Detection / Distance and Segmentation
+
+- [Vision Node](./vision_node.md)
+  - The Vision Node provides an adaptive interface that is able to perform object detection and image segmentation on multiple cameras at the same time
+  (even though only one camera perceiving the front of the car is active at the moment).
+- [Distance to Objects](./distance_to_objects.md)
+- [Traffic Light Detection](./traffic_light_detection.md)
+- [Dataset Generator](./dataset_generator.md)
+- [Dataset Structure](./dataset_structure.md)
+
+## Localization
 
 An overview over the different nodes working together to localize the vehicle is provided in the [localization](./localization.md) file.
 
+- [Kalman Filter](./kalman_filter.md)
+- [Position Heading Publisher Node](./position_heading_publisher_node.md)
+- [Position Heading Filter Debug Node](./position_heading_filter_debug_node.md)
+- [Coordinate Transformation](./coordinate_transformation.md) (helper functions)
+
+## Unused files
+
+- [Lidar Distance Utility](./lidar_distance_utility.md)
+  - Not used since paf22
+- [Efficient PS](./efficientps.md)
+  - Not used scince paf22 and never successfully tested
+
 ## Experiments
 
-- The overview of performance evaluations is located in the [experiments](./experiments/README.md) folder.
+The overview of performance evaluations is located in the [experiments](./experiments/README.md) folder.