diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index 8143a7d30cafa4998fc0328bec232b743cc182e1..661e18f080421327a7841032d2d800592a15d383 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -10,8 +10,8 @@
 namespace laserscanutils{
 
 CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, bool _useKeypointRadius, double _radius) :BSCExtractor( _circularSectorNumber, _radialRingNumber, _useKeypointRadius ,_radius ) {
-    // FALKO EXTRACTOR PARAMS
-    setMinExtractionRange(0.25);
+    // FALKO Extractor Parameters
+    setMinExtractionRange(0.1);
     setMaxExtractionRange(25);
     enableSubbeam(true);
     setNMSRadius(0.1);
@@ -19,6 +19,8 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b
     setBRatio(4);
     setGridSectors(16);
 
+    // Matcher Extractor Parameters
+    setDistanceThreshold(0.1);
 
 }
 
@@ -63,7 +65,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
     int cols = sizeof(keypointSets)/(sizeof(int)*rows);
 
     for (int i=0; i<rows;i++){
-        setDistanceThreshold(0.1);
         std::vector<std::pair<int, int> > assoNN;
         matchingNumber = match(keypointSets[i], keypointSet2, assoNN);
     }
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 5d907030b77b5bde3794f8b60b041ac0cc803c1a..5ce667ebd98eeb23ae84b9481a6f753625356153 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -41,7 +41,7 @@ namespace laserscanutils
  *
  */
 
-class CornerFalko2d: public falkolib::FALKOExtractor, falkolib::BSCExtractor<falkolib::FALKO>, falkolib::NNMatcher<falkolib::FALKO>
+class CornerFalko2d: public falkolib::FALKOExtractor, public falkolib::BSCExtractor<falkolib::FALKO>, public falkolib::NNMatcher<falkolib::FALKO>
 {
 public:
     /**