Rules:
if you reached the goal to estimate two scan matching and relative pose estimation with Ransac and SVD and are able to discuss at the oral of the exam +1 point @ the final grade
if you reach the goal to estimate the whole path estimation (with scan matching and relative pose estimation with Ransac and SVD) with map building (probabilistic better or, alternatively, accumulated point cloud) and are able to discuss at the oral of the exam +2 point @ the final grade