diff --git a/mr/ub6/UB6.pdf b/mr/ub6/UB6.pdf
index 4836ac6..bb0f376 100644
--- a/mr/ub6/UB6.pdf
+++ b/mr/ub6/UB6.pdf
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diff --git a/mr/ub6/UB6.tex b/mr/ub6/UB6.tex
index c4f58e3..78fe9d7 100644
--- a/mr/ub6/UB6.tex
+++ b/mr/ub6/UB6.tex
@@ -145,7 +145,7 @@
 			\end{itemize}
 			werte falsch ... finde rechenfehler nicht.
 
-	\item $(K^{-1} p_R)^T\cdot E\cdot K^{-1}p_L = p_R^{T}\cdot K^{T^{-1}}\cdot E\cdot K^{-1} \cdot p_L\\
+	\item $(K^{-1} v_R)^T\cdot E\cdot K^{-1}v_L = v_R^{T}\cdot K^{T^{-1}}\cdot E\cdot K^{-1} \cdot v_L\\
 	E= K^T\cdot F\cdot K	\\
 	F= K^{T^{-1}}\cdot E\cdot K^{-1}$\\
 	K = calibration matrix of the cameras
@@ -203,19 +203,19 @@
 		k_B=1893\\
 		k_A\cdot t_A=567\cdot 140ns=79380ns\\
         k_B\cdot t_B=1893\cdot 40ns= 75720ns$\\
-        So the time for computation of B is smaller even with more points needed. So we choose B because of faster computationtime. If we are short for points however we should use A even though it takes more time.
+        So the time for computation of B is smaller even with more points needed. So we choose B because of a faster computation time. If we are short for points however we should use A even though it takes more time.
 
 	\end{enumerate}
 	\Aufgabe{Stereo Vision}{8}
 	\begin{enumerate}[(a)]
-		\item  As $d_{max}$ increases $z_b$ decreases. So $d_{max}$ sets a lower bound. For $d$ appoaching 0 $z_b$ goes to infinity, so there is no upper bound set by setting $d_{max}$\\
+		\item  As $d_{max}$ increases $z_b$ decreases. So $d_{max}$ sets a lower bound. For $d$ approaching 0 $z_b$ approaches infinity, so there is no upper bound set by a fixed $d_{max}$\\
 		$z_{p,min}=\frac{f\cdot b}{d_{max}}=\frac{512px\cdot10cm}{64px}=\frac{2^9}{2^6}\cdot10cm=80cm$
 		\item
 		$  d \sim N(d_{true},\sigma_d)$\\
 		 $z_{p}(d)=\frac{f\cdot b}{d}$\\
 		TaylorApprox:\\$z_p(d)=z(d_{true})+z'(d_{true})(d-d_{true})=\frac{f\cdot b}{d_{true}}- \frac{f\cdot b}{d_{true}^2}(d-d_{true})= \frac{2f\cdot b}{d_{true}}-\frac{f\cdot b}{d_{true}^2}\cdot d\\
 		\sigma_z= |A|\cdot \sigma_d =  \frac{f\cdot b}{d_{true}^2}\cdot \sigma_d= \frac{f\cdot b}{\frac{f^2\cdot b^2}{z_p^2}}\cdot \sigma_d= \frac{z_p^2}{f\cdot b}\sigma_d  \\
-		$schneller: $\sigma = |f'(a)|\cdot \sigma_{alt}
+	%	$faster: $\sigma = z'(d_{true})|\cdot \sigma_{alt}
 		$
 		\item see b)
 		\item $f=512px \\
diff --git a/mr/ub6/assignment06.pdf b/mr/ub6/assignment06.pdf
index 1c1c568..0c43f48 100644
--- a/mr/ub6/assignment06.pdf
+++ b/mr/ub6/assignment06.pdf
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