diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index bcfa29ff550742f85bdab9d2dd4efb3c8673cd67..4b4c1445f477130415c3e9922c18959d1034c8bb 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -4,13 +4,13 @@ keyframe_vote:
     voting_active: true
     # Trigger a new keyframe creation as well as detection of new keypoints in last frame
     # when the track number goes below min_features_for_keyframe in incoming
-    min_features_for_keyframe: 30
+    min_features_for_keyframe: 25
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 5
+max_new_features: 4
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -24,8 +24,8 @@ fast_params:
     
 # Lucas Kanade tracking parameters
 klt_params:
-    patch_width:      17
-    patch_height:     17
+    patch_width:      21
+    patch_height:     21
     nlevels_pyramids: 3
     klt_max_err:      0.2
 
@@ -35,9 +35,9 @@ grid_params:
     nbr_cells_h: 6  # horizontal
     nbr_cells_v: 5  # vertical
     # minimum margin of the region of interest from the edges of the image 
-    margin: 6
+    margin: 10
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
-    separation: 6
+    separation: 10
 
 # Keep the number of tracks below 
 max_nb_tracks: 30