diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index aef6c39fc2451b32a630e2a96ef24878050a5df8..6a432f52044c7e6df635e482b7ba75c79619bcf0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -69,7 +69,6 @@ SET(HDRS
     SET(HDRS ${HDRS}
       corner_falko_2d.h
       loop_closure_falko.h
-      corner_scene.h
       scene_falko.h)
   ENDIF(falkolib_FOUND)
 
diff --git a/src/corner_scene.h b/src/corner_scene.h
deleted file mode 100644
index fb1932c375223a4aade272ac205e3a1705eee938..0000000000000000000000000000000000000000
--- a/src/corner_scene.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/**
- * \file corner_scene.h
- *
- *  Created on: Feb 9, 2021
- *      \author: spujol
- */
-
-#ifndef CORNER_SCENE_H_
-#define CORNER_SCENE_H_
-
-#include <iostream>
-#include <fstream>
-
-/**************************
- *      Falko includes      *
- **************************/
-#include <falkolib/Feature/FALKO.h>
-#include <falkolib/Feature/CGH.h>
-#include <falkolib/Feature/BSC.h>
-#include <falkolib/Feature/FALKOExtractor.h>
-
-#include <falkolib/Feature/BSCExtractor.h>
-#include <falkolib/Feature/CGHExtractor.h>
-
-#include <falkolib/Matching/NNMatcher.h>
-#include <falkolib/Matching/AHTMatcher.h>
-
-namespace laserscanutils
-{
-
-
-
-template <typename D>
-struct cornerScene{
-    std::vector<falkolib::FALKO> keypointsList;
-    std::vector<D> descriptorsList;
-};
-
-typedef std::shared_ptr<cornerScene<falkolib::BSC>> cornerSceneBSCPtr;
-
-
-} /* namespace laserscanutils */
-
-#endif /* CORNER_SCENE_H_ */
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index d3d9b360f655c48dc6406e7cea8f4961ed73ac8e..a634af460da05548bd0f8d3b14c9bd4c49c8614d 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -16,7 +16,6 @@
  *      laser_scan_utils includes     *
  **************************/
 #include "laser_scan.h"
-#include "corner_scene.h"
 #include "scene_base.h"
 
 /**************************
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index 5e363269a11928e5727f0adc630defbd01ab227a..dadc9a1083eeb0ab59aa178a782f1f08767dd6b6 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -37,8 +37,8 @@ namespace laserscanutils{
     loopClosureFalko<D,Extr,M>::~loopClosureFalko(){}
 
     template <typename D,typename Extr, typename M>
-    std::shared_ptr<cornerScene<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
-        auto newScene=std::make_shared<cornerScene<D>>();
+    std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
+        auto newScene=std::make_shared<sceneFalko<D>>();
         auto scanFALKO =loopClosureFalko<D,Extr,M>::convert2LaserScanFALKO(scan, scanParams);
         // Extract keypoints
         extract((*scanFALKO), (newScene->keypointsList));
@@ -49,7 +49,7 @@ namespace laserscanutils{
     }
 
 
-    //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
+    //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){}
 
     //Explicitly compile all the templates
     template class loopClosureFalko <bsc, bscExtractor, NNMatcher>;
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 5069bcc617b39ceedbe7df2019d57a6fda2e5c65..35be401349b4f18798590efdee265ec9e7af9c6b 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -16,7 +16,6 @@
  *      laser_scan_utils includes     *
  **************************/
 #include "laser_scan.h"
-#include "corner_scene.h"
 #include "scene_falko.h"
 #include "loop_closure_base_2d.h"
 
@@ -64,11 +63,11 @@ public:
 
     /** \brief compare new scans against the trained set in order to find loop closures
      **/
-    //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
+    //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){}
 
     /** \brief update the scene struct with keypoints and descriptors
      **/
-    std::shared_ptr<cornerScene<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams);
+    std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams);
 
     
 };
diff --git a/src/scene_falko.h b/src/scene_falko.h
index 1fa87224a85a2030b835c413d720d96cc4e340f5..73f857fe6a6122596bd9885d3db60491658e4559 100644
--- a/src/scene_falko.h
+++ b/src/scene_falko.h
@@ -40,7 +40,7 @@ struct sceneFalko : sceneBase{
     std::vector<D> descriptorsList;
 };
 
-typedef std::shared_ptr<cornerScene<falkolib::BSC>> sceneFalkoBSCPtr;
+typedef std::shared_ptr<sceneFalko<falkolib::BSC>> sceneFalkoBSCPtr;
 
 
 } /* namespace laserscanutils */