diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index 92f21ad2234dc39457335772803a733320f39876..3e787dd56cf710390cce53ed81d3b3800b2445b6 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -27,27 +27,21 @@ namespace wolf
  *
  * Specific object creation is invoked by `create(TYPE, params ... )`, and the TYPE of sensor is identified with a string.
  * Currently, the following sensor types are implemented,
- *   - "SensorOdom2d" for SensorOdom2d
- *   - "SensorOdom3d" for SensorOdom3d
+ *   - "SensorOdom2d"    for SensorOdom2d
+ *   - "SensorOdom3d"    for SensorOdom3d
  *   - "SensorDiffDrive" for SensorDiffDrive
- *   - "SensorCamera" for SensorCamera // in plugin 'vision'
- *   - "SensorLaser2d" for SensorLaser2d // in plugin 'laser'
+ *   - "SensorCamera"    for SensorCamera   // in plugin 'vision'
+ *   - "SensorLaser2d"   for SensorLaser2d  // in plugin 'laser'
  *
- * among others
+ * among others.
  *
- * TYPE is always a std::string with literally the same text as the derived class name, e.g.:
- *   - SensorCamera ->  `"SensorCamera"`
- *   - SensorLaser2d -> `"SensorLaser2d"`
- *   - etc.
+ * Find general Factory documentation in class Factory:
+ *   - Access the factory
+ *   - Register/unregister creators
+ *   - Invoke object creation
  *
- * The methods to create specific sensors are called __creators__.
- * Creators must be registered to the factory before they can be invoked for sensor creation.
- *
- * Find general Factory documentation in class Factory.
- *
- * This documentation shows you how to:
+ * This documentation shows you how to use the FactorySensor specifically:
  *   - Write sensor creators.
- *   - Register and unregister creators
  *   - Create sensors
  *
  * #### Write sensor creators
@@ -57,7 +51,7 @@ namespace wolf
  *     static SensorBasePtr create(const std::string& _name, Eigen::VectorXd& _params_extrinsics, ParamsSensorBasePtr _params_sensor);
  *     \endcode
  *
- * The follow the general implementation shown below:
+ * They follow the general implementation shown below:
  *
  *     \code
  *      static SensorBasePtr create(const std::string& _unique_name, Eigen::VectorXd& _params_extrinsics, ParamsSensorBasePtr _params_sensor)
@@ -78,40 +72,6 @@ namespace wolf
  *      }
  *     \endcode
  *
- *
- *
- * #### Registering sensor creators
- * Prior to invoking the creation of a sensor of a particular type,
- * you must register the creator for this type into the factory.
- *
- * Registering sensor creators into the factory is done through registerCreator().
- * You provide a sensor type string (above), and a pointer to a static method
- * that knows how to create your specific sensor, e.g.:
- *
- *     \code
- *     FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
- *     \endcode
- *
- * The method SensorCamera::create(...) is the creator written in the previous section.
- *
- * #### Achieving automatic registration
- * Currently, registering is performed in each specific SensorXxxx source file, sensor_xxxx.cpp.
- * For example, in sensor_camera.cpp we find the line:
- *
- *     \code
- *      const bool registered_camera = FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
- *     \endcode
- *
- * which is a static invocation (i.e., it is placed at global scope outside of the SensorCamera class).
- * Therefore, at application level, all sensors that have a .cpp file compiled are automatically registered.
- *
- * #### Unregistering sensor creators
- * The method unregisterCreator() unregisters the SensorXxx::create() method. It only needs to be passed the string of the sensor type.
- *
- *     \code
- *     FactorySensor::get().unregisterCreator("SensorCamera");
- *     \endcode
- *
  * #### Creating sensors
  * Note: Prior to invoking the creation of a sensor of a particular type,
  * you must register the creator for this type into the factory.
@@ -119,7 +79,7 @@ namespace wolf
  * To create e.g. a SensorCamera, you type:
  *
  *     \code
- *      FactorySensor::get().create("SensorCamera", "Front-left camera", params_extrinsics, params_camera);
+ *     auto camera_ptr = FactorySensor::get().create("SensorCamera", "Front-left camera", params_extrinsics, params_camera);
  *     \endcode
  *
  * where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
@@ -130,7 +90,7 @@ namespace wolf
  *  - FactoryProcessor: to create processors that will be bound to sensors.
  *  - Problem::installSensor() : to install sensors in WOLF Problem.
  *
- * #### Example 1: writing a specific sensor creator
+ * #### Example 1: writing a SensorCamera creator
  * Here is an example of SensorCamera::create() extracted from sensor_camera.cpp:
  *
  *     \code