diff --git a/mr/ub6/UB6.pdf b/mr/ub6/UB6.pdf
index 67c1f6e..c1cd4ba 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 59f3690..0c0881a 100644
--- a/mr/ub6/UB6.tex
+++ b/mr/ub6/UB6.tex
@@ -182,5 +182,33 @@
 	Epipolar Line: $ =E \cdot p_L^T $  wie bekomm ich daraus ne linie? %TODO \\
 	epipolatpunkt $E^T*e_2 =0$
 	\end{enumerate}
+	\Aufgabe{RANSAC}{4}
+	\begin{enumerate}[(a)]
+		\item  $
+		k=\dfrac{log(1-p)}{log(1(1-\epsilon)^s)}\\
+		p=0.99\\
+		s_1=4, s_2=6, s_3=7\\
+		\begin{tabular}{c||llllllllll}
+			 outlier ratio  & 0.1  &0.2  &0.3  &0.4  &0.5  &0.6  &0.7  &0.8  &0.9    \\ \hline
+			s1=4& 5 & 9 & 17 & 34 & 72 & 178 & 566  & 2876  & 4650     \\
+			s2=5 & 6 & 12 &26  &57  &146  &448  &1893  &14389  &460515    \\
+			s3=7 & 8 &20  & 54 &163  &588  &2809  &21055  &359777  &46051700  
+		\end{tabular}
+		$
+		\item A: 4 datapoints 150ns a iteration\\
+		B: 5 datapoints 40ns a iteration\\
+		$p=0.99\\
+		\eta = 0.7\\
+		k_A= 567\\
+		k_B=1893\\
+		140/40= 3.5$ B is 3.5 times faster than A\\
+		$1893/3.5= 541$\\
+		So we choose B although it needs more points.
+		
+	\end{enumerate}
+	\Aufgabe{Stereo Vision}{8}
+	\begin{enumerate}
+		\item 
+	\end{enumerate}
 \end{document}