diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 3db1b7761c94ab6b60139773d3a3ca7adb39ad92..bd3ee8484f9c3c715029847d4e7bbde91488cf95 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -14,6 +14,11 @@ max_new_features: 15
 
 ####################################
 # ProcessorVisualOdometry parameters
+
+# CLAHE = Contrast Limited Adaptive Histogram Equalization  
+# -> more continuous lighting and higher contrast images, 1-1.5 ms overhead
+use_clahe: true
+
 # FAST KeyPoint detection 
 fast_params:
     # Threshold on the keypoint pixel intensity (in uchar [0-255])