diff --git a/src/corner_falko_2d.cpp b/src/corner_falko_2d.cpp
index d0c8c907d9db7cc74fa952b3476536b5811fc6af..80e5b84193c06f8f51272acbaf1c95d1e8d45b4e 100644
--- a/src/corner_falko_2d.cpp
+++ b/src/corner_falko_2d.cpp
@@ -7,4 +7,32 @@
 
 #include "corner_falko_2d.h"
 
+namespace wolf{
+
+void CornerFalko2d::extract (falkolib::LaserScan scan){
+    
+    
+    
+    fe.setMinExtractionRange(0.25);
+	fe.setMaxExtractionRange(25);
+	fe.enableSubbeam(true);
+    fe.setNMSRadius(0.1);
+    fe.setNeighB(0.01);
+    fe.setBRatio(4);
+	fe.setGridSectors(16);
+    
+    std::vector<falkolib::FALKO> keypoints;
+
+    /*
+    fe.extract(scan, keypoints);
+    
+    
+    falkolib::BSCExtractor<falkolib::FALKO> bsc(16,8);
+    std::vector<falkolib::BSC> bscDesc;
+    bsc.compute(scan, keypoints, bscDesc);
+    */
+}
+
+}
+
 
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 476584a2825bba452818683162dc0c4e2852f311..b5986b333b4ddedc77e691ed256c2deba03bc443 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -33,11 +33,22 @@
 
 namespace wolf
 {
-class LandmarkCorner2d
+class CornerFalko2d
 {
 public:
-    std::vector<std::vector<falkolib::FALKO>> cornerSet;
-    std::vector<std::vector<falkolib::BSC>> descriptorSet;
+    /** \brief Constructor
+     * 
+     * Constructor
+     * 
+     **/
+    CornerFalko2d(); 
+        
+    /** \brief Destructor
+     * 
+     * Destructor
+     * 
+     **/
+    ~CornerFalko2d(); 
 
     /** \brief Gets a set of landmarks/scenes to use as trained set.
      **/
@@ -45,12 +56,15 @@ public:
 
     /** \brief Extract landmark/scene (list of corners) from a given 2D scan
      **/
-    void extract();
+    void extract(falkolib::LaserScan scan);
 
     /** \brief compare new scans against the training set in order to find loop closures
      **/
     void findLoopClosure();
 
+    std::vector<std::vector<falkolib::FALKO>> CornerSet;
+    std::vector<std::vector<falkolib::BSC>> descriptorSets;
+    falkolib::FALKOExtractor fe;
 };
 
 } /* namespace wolf */