diff --git a/mr/ub6/UB6.pdf b/mr/ub6/UB6.pdf
index 0ef0061..72bced7 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 d3c8ee7..f30ef4a 100644
--- a/mr/ub6/UB6.tex
+++ b/mr/ub6/UB6.tex
@@ -179,8 +179,16 @@
 	\end{pmatrix}=0\\
 	\Leftrightarrow
 	y=-\dfrac{a}{b}x-\dfrac{c}{b}\\
-	y=--0.2x-432.761\\
+	y=-0.2x+432.761\\
 	$
+	Figure look at Figure \ref{fig:points}
+	\begin{figure}[!htb]
+		\centering
+		\includegraphics[width=0.7\linewidth]{points}
+		\caption{coordinate points and epipolar line}
+		\label{fig:points}
+	\end{figure}
+
 	\end{enumerate}
 	\Aufgabe{RANSAC}{4}
 	\begin{enumerate}[(a)]
diff --git a/mr/ub6/points.png b/mr/ub6/points.png
new file mode 100644
index 0000000..2c56137
--- /dev/null
+++ b/mr/ub6/points.png
Binary files differ
diff --git a/mr/ub7/1dMatlab.png b/mr/ub7/1dMatlab.png
index d4c17bb..dd00742 100644
--- a/mr/ub7/1dMatlab.png
+++ b/mr/ub7/1dMatlab.png
Binary files differ
diff --git a/mr/ub7/A1d.m b/mr/ub7/A1d.m
index 1834275..f70d581 100644
--- a/mr/ub7/A1d.m
+++ b/mr/ub7/A1d.m
@@ -1,19 +1,17 @@
 pmi=0.5;
-pmizo=0.8;
-pmizf=0.4;
 
-pmiz1= 0.8*0.8*0.4*0.4;
-pmiz2=pmiz1;
-pmiz4=pmiz1;
-pmiz5=pmiz1;
-pmiz3= 0.8^3*0.4;
-pmizs=[pmiz1,pmiz2,pmiz3,pmiz4,pmiz5];
 
-pmizl= pmizs(1)
-for i = 2:length(pmizs)
-    i
-    pmizc= 1/(1+((1-pmizs(i))/(pmizs(i))*(1-pmizl)/(pmizl)* pmi/(1-pmi)));
-    pmizl= pmizc
+pmit=[0.8,0.4,0.8,0.8,0.8;0.8,0.8,0.4,0.4,0.8;0.4,0.4,0.4,0.4,0.4;0.4,0.8,0.4,0.8,0.4]
+pmiz=[]
+
+for j=1:size(pmit,1)
+    j
+    pmizl=pmit(j,1);
+    for i = 2:size(pmit,2)
+        i
+        pmizc= 1/(1+((1-pmit(j,i))/(pmit(j,i))*(1-pmizl)/(pmizl)* pmi/(1-pmi)));
+        pmizl= pmizc
+    end
+    pmiz(j)=pmizl;
 end
-
-pmizl2
\ No newline at end of file
+pmiz
\ No newline at end of file
diff --git a/mr/ub7/mr7.pdf b/mr/ub7/mr7.pdf
index 3ac4291..0e652a6 100644
--- a/mr/ub7/mr7.pdf
+++ b/mr/ub7/mr7.pdf
Binary files differ
diff --git a/mr/ub7/mr7.tex b/mr/ub7/mr7.tex
index 84bac25..268092d 100644
--- a/mr/ub7/mr7.tex
+++ b/mr/ub7/mr7.tex
@@ -94,7 +94,11 @@
         2 Add/Sub, 4 Div/Mult\\
         $ log(o(m_i|z_{t,\dots,1}))= log(p(m_i|z_t))-log(1-p(m_i|z_t))+log(a)-log(1-a)+c $\\
         6 Add/Sub, 4 logs  \\
-        \item$ p(m_i|z_{1,\cdots,5})=4.3622*10^{-5}$\\
+        \item
+        $ p(m_1|z_{1,\dots,5})=0.9942$\\
+        $ p(m_2|z_{1,\dots,5})=0.9660$\\
+        $ p(m_3|z_{1,\dots,5})=0.1164$\\
+        $ p(m_4|z_{1,\dots,5})=0.8258$\\
         Rechenweg Matlab  siehe Abbildung \ref{fig:1dMatlab}:
         \begin{figure}
 		\centering