diff --git a/mr/Ub5/UB5.pdf b/mr/Ub5/UB5.pdf
new file mode 100644
index 0000000..5e26d6f
--- /dev/null
+++ b/mr/Ub5/UB5.pdf
Binary files differ
diff --git a/mr/Ub5/UB5.tex b/mr/Ub5/UB5.tex
new file mode 100644
index 0000000..a056126
--- /dev/null
+++ b/mr/Ub5/UB5.tex
@@ -0,0 +1,103 @@
+\documentclass[a4paper,12pt]{scrartcl}
+\usepackage[ngerman]{babel}
+\usepackage{graphicx} %BIlder einbinden
+\usepackage{amsmath} %erweiterte Mathe-Zeichen
+\usepackage{amsfonts} %weitere fonts
+\usepackage[utf8]{inputenc} %Umlaute & Co
+\usepackage{hyperref} %Links
+\usepackage{ifthen} %ifthenelse
+\usepackage{enumerate}
+\usepackage{pdfpages}
+\usepackage{algpseudocode} %Pseudocode
+\usepackage{dsfont} % schöne Zahlenräumezeichen
+\usepackage{amssymb, amsthm} %noch stärker erweiterte Mathe-Zeichen
+\usepackage{tikz} %TikZ ist kein Zeichenprogramm
+\usetikzlibrary{trees,automata,arrows,shapes}
+
+\pagestyle{empty}
+
+
+\topmargin-50pt
+
+\newcounter{aufgabe}
+\def\tand{&}
+
+\newcommand{\makeTableLine}[2][0]{%
+  \setcounter{aufgabe}{1}%
+  \whiledo{\value{aufgabe} < #1}%
+  {%
+    #2\tand\stepcounter{aufgabe}%
+  }
+}
+
+\newcommand{\aufgTable}[1]{
+  \def\spalten{\numexpr #1 + 1 \relax}
+  \begin{tabular}{|*{\spalten}{p{1cm}|}}
+    \makeTableLine[\spalten]{A\theaufgabe}$\Sigma$~~\\ \hline
+    \rule{0pt}{15pt}\makeTableLine[\spalten]{}\\
+  \end{tabular}
+}
+
+\def\header#1#2#3#4#5#6#7{\pagestyle{empty}
+\begin{minipage}[t]{0.47\textwidth}
+\begin{flushleft}
+{\bf #4}\\
+#5
+\end{flushleft}
+\end{minipage}
+\begin{minipage}[t]{0.5\textwidth}
+\begin{flushright}
+#6 \vspace{0.5cm}\\
+%                 Number of Columns    Definition of Columns      second empty line
+% \begin{tabular}{|*{5}{C{1cm}|}}\hline A1&A2&A3&A4&$\Sigma$\\\hline&&&&\\\hline\end{tabular}\\\vspace*{0.1cm}
+\aufgTable{#7}
+\end{flushright}
+\end{minipage}
+\vspace{1cm}
+\begin{center}
+{\Large\bf Assignment #1}
+
+{(Hand-in date #3)}
+\end{center}
+}
+
+
+
+%counts the exercisenumber
+\newcounter{n}
+
+%Kommando für Aufgaben
+%\Aufgabe{AufgTitel}{Punktezahl}
+\newcommand{\Aufgabe}[2]{\stepcounter{n}
+\textbf{Exercise \arabic{n}: #1} (#2 Punkte)\\}
+
+
+
+
+\begin{document}
+    %\header{BlattNr}{Tutor}{Abgabedatum}{Vorlesungsname}{Namen}{Semester}{Anzahl Aufgaben}
+    \header{5}{}{2015-06-02}{Mobile Robots}{
+    	\textit{Jan-Peter Hohloch}\\ \textit{Maximus Mutschler}
+    }{SS 15}{2}
+    \vspace{1cm}
+
+	\Aufgabe{MATLAB}{10}
+	\begin{enumerate}[(a)]
+        \item Marlin F-033 specs from \url{https://www.alliedvision.com/cn/products/cameras/detail/f-033-1.html}:
+            \begin{itemize}
+                \item Resolution: 656x494
+                \item Framerate: 73fps
+                \item $73\frac{1}{s}\cdot 656\cdot 494\cdot 1$ Byte$=23656672\frac{\text{Byte}}{s}$
+            \end{itemize}
+        \item We'd expect the principle point to be at (0,0) if this correspondents to the middle of the picture. So it should be in Pixel 162032.
+        \item after optimization:
+        \begin{itemize}
+            \item focal length: 780.37666, 776.84481
+            \item Principle point: 304.55702, 336.54883
+            \item distortion: -0.19833, 0.30243, 0.01975, -0.00276, 0.00000
+            \item Pixel error: 0.95118, 0.87892
+        \end{itemize}
+        \item The pixel error ist the standard deviation of the reprojection error in x- and y-Direction
+	\end{enumerate}
+\end{document}
+