diff --git a/mr/ub6/UB6.pdf b/mr/ub6/UB6.pdf
index 666d256..d604f3f 100644
--- a/mr/ub6/UB6.pdf
+++ b/mr/ub6/UB6.pdf
Binary files differ
diff --git a/mr/ub6/UB6.tex b/mr/ub6/UB6.tex
index 71f9323..1c2cf45 100644
--- a/mr/ub6/UB6.tex
+++ b/mr/ub6/UB6.tex
@@ -135,11 +135,10 @@
 			 -0.25\\-0.10\\1.00
 			 \end{pmatrix}=-0.040149
 			\rightarrow$  no match\end{itemize}
-		
 
-	\item $(K^{-1} v_R)^T\cdot E\cdot K^{-1}v_L = v_R^{T}\cdot K^{T^{-1}}\cdot E\cdot K^{-1} \cdot v_L\\
+	\item $(K^{-1} v_R)^T\cdot E\cdot K^{-1}v_L = v_R^{T}\cdot \left(K^{-1}\right)^T\cdot E\cdot K^{-1} \cdot v_L\\
 	E= K^T\cdot F\cdot K	\\
-	F= K^{T^{-1}}\cdot E\cdot K^{-1}$\\
+	F= \left(K^{-1}\right)^T\cdot E\cdot K^{-1}$\\
 	K = calibration matrix of the cameras
 	\item
 	$
@@ -157,17 +156,17 @@
 	1
 	\end{pmatrix}\\
 	p_{R1}= K\cdot \begin{pmatrix}
-		-0.39&0.32&1.0
+		0.26&0.21&1.0
 	\end{pmatrix}^T= \begin{pmatrix}
-	125\\
-	400\\
+	450\\
+	345\\
 	1
 	\end{pmatrix}\\
 	p_{R2}=K\cdot \begin{pmatrix}
-		-0.25&0.1&1.0
+		-0.25&-0.1&1.0
 	\end{pmatrix}^T = \begin{pmatrix}
 	195\\
-	290\\
+	190\\
 	1
 	\end{pmatrix}
 	$
diff --git a/mr/ub6/assignment06.pdf b/mr/ub6/assignment06.pdf
index 0c43f48..d0706c9 100644
--- a/mr/ub6/assignment06.pdf
+++ b/mr/ub6/assignment06.pdf
Binary files differ