diff --git a/README.md b/README.md
index 003e6f8b72bf1524e3f7923555f963b45073fa7d..6f5abc7f7ae77cb1ec07f1f698edf8beb397ff9d 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@ Currently, our team is diligently working on cleaning and documenting the reposi
 
 ---
 
-This package implements a ROS node for ground / obstacle / overhanging obstacle segmentation. It provides the interface to the library kf_based_terrain_analysis, which angularly exploring a poincloud from the origin to the limits, generates a graph of ground references containing their 2D coordinates (XY) and three Gaussian variables (Z, slope in X (tan(pitch)) and slope in Y (tan(roll))) with means and variances. These three variables are estimated by means of a Kalman Filter.
+This package implements a ROS node for traversable ground / non-traversable ground / obstacle and overhanging obstacle segmentation. It provides the interface to the library kf_based_terrain_analysis, which angularly exploring a poincloud from the origin to the limits, generates a graph of ground references containing their 2D coordinates (XY) and three Gaussian variables (Z, slope in X (tan(pitch)) and slope in Y (tan(roll))) with means and variances. These three variables are estimated by means of a Kalman Filter.
 
 Dependences: 
 
diff --git a/src/ground_segmentation_alg_node.cpp b/src/ground_segmentation_alg_node.cpp
index 0040cfd9958f53d894a898ec17877c02e8046174..4d5be95dcdc86a00d7e504350e828526b6f3b937 100644
--- a/src/ground_segmentation_alg_node.cpp
+++ b/src/ground_segmentation_alg_node.cpp
@@ -485,9 +485,9 @@ void GroundSegmentationAlgNode::showPerformanceStatistics(void)
   std::cout << "--------------------- ALGORITHM: ---------------------------------" << std::endl;
   this->alg_.showPerformanceStatistics();
   std::cout << "-------------------------------------------------------------------------------" << std::endl;
-  std::cout << "--------------------- PROCESSOR: ---------------------------------" << std::endl;
-  this->alg_.processor_.showPerformanceStatistics();
-  std::cout << "-------------------------------------------------------------------------------" << std::endl;
+//  std::cout << "--------------------- PROCESSOR: ---------------------------------" << std::endl;
+//  this->alg_.processor_.showPerformanceStatistics();
+//  std::cout << "-------------------------------------------------------------------------------" << std::endl;
 }
 
 void GroundSegmentationAlgNode::mainNodeThread(void)