diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b9134357126e7f9fc133f274fc74282e74cfc9ab..2ce8fcf15f38d182c8519dc117feb2f2325a8f6d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -56,7 +56,7 @@ SET(HDRS
     point_set.h
     polyline.h
     scan_segment.h
-    loop_closure_base_2d.h
+    loop_closure_base.h
     scene_base.h
     
     )
@@ -90,7 +90,7 @@ SET(SRCS
     point_set.cpp
     polyline.cpp
     scan_segment.cpp
-    loop_closure_base_2d.cpp
+    loop_closure_base.cpp
     )
   IF(csm_FOUND)
     SET(SRCS ${SRCS}
diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base.cpp
similarity index 93%
rename from src/loop_closure_base_2d.cpp
rename to src/loop_closure_base.cpp
index 5274d2035510c60269a58e158bd9577b73ebc100..adf300dc48c5fdb28cc2aa00bd2e20f64ee267e0 100644
--- a/src/loop_closure_base_2d.cpp
+++ b/src/loop_closure_base.cpp
@@ -5,7 +5,7 @@
  *      \author: spujol
  */
 
-# include "loop_closure_base_2d.h"
+# include "loop_closure_base.h"
 
 namespace laserscanutils{
 
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base.h
similarity index 100%
rename from src/loop_closure_base_2d.h
rename to src/loop_closure_base.h
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index 0785cb19c27ff0485eabde98a5db36c9c5ecbe17..c4ee28ad55257a98062b9939e66f2466f2a30757 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -19,7 +19,7 @@
  **************************/
 #include "laser_scan.h"
 #include "scene_falko.h"
-#include "loop_closure_base_2d.h"
+#include "loop_closure_base.h"
 #include "match_loop_closure.h"
 
 /**************************
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 386aea8e0315fcbb7d6ff666ac776ff3a48bf946..89062a02d2bed2a57e5eed0afe49ec79fc652aa9 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -22,5 +22,5 @@ INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
 gnss_utils_add_gtest(gtest_example gtest_example.cpp)
 target_link_libraries(gtest_example ${PROJECT_NAME})  
 
-gnss_utils_add_gtest(gtest_loop_closure_base_2d gtest_loop_closure_base_2d.cpp ${PROJECT_SOURCE_DIR}/test/testData2.cpp)
-target_link_libraries(gtest_loop_closure_base_2d ${PROJECT_NAME})
+gnss_utils_add_gtest(gtest_loop_closure_falko gtest_loop_closure_falko.cpp ${PROJECT_SOURCE_DIR}/test/testData2.cpp)
+target_link_libraries(gtest_loop_closure_falko ${PROJECT_NAME})
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_falko.cpp
similarity index 94%
rename from test/gtest_loop_closure_base_2d.cpp
rename to test/gtest_loop_closure_falko.cpp
index f7f745751b3ef6e9440c201665eefa96e2fc2870..e004f63d98f18b6ccfeb45fc53207de0e1e670bf 100644
--- a/test/gtest_loop_closure_base_2d.cpp
+++ b/test/gtest_loop_closure_falko.cpp
@@ -1,13 +1,12 @@
 #include "gtest/utils_gtest.h"
 #include "testData2.h"
-#include "../src/loop_closure_base_2d.h"
+#include "../src/loop_closure_base.h"
 #include "../src/loop_closure_falko.h"
 
-//#include "laser_scan_utils.h"
 
 using namespace laserscanutils;
 
-TEST(loop_closure_falko, TestExtractSceneAndMatcher)
+TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions)
 {
     int scanSize = 1440;