diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 636f41aab5ab688d0ac5c1661d1c9ace34aa9c32..59a88d79e85dba26df6ec9a3ce36a44f0c1319ac 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -21,13 +21,6 @@ fast_params:
     threshold_fast: 10
     # Avoids getting multiple keypoints at the same place
     non_max_suppresion: false
-    # number of cells used by the active search grid data structure
-    active_search_grid_nb_h: 12  # horizontal
-    active_search_grid_nb_v: 10  # vertical
-    # minimum margin of the region of interest from the edges of the image 
-    active_search_margin: 6
-    # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
-    active_search_separation: 6
     
 # Lucas Kanade tracking parameters
 klt_params:
@@ -36,8 +29,18 @@ klt_params:
     nlevels_pyramids: 3
     klt_max_err:      0.3
 
+# tesselation grid    
+grid_params:
+    # number of cells used by the active search grid data structure
+    nbr_cells_h: 12  # horizontal
+    nbr_cells_v: 10  # vertical
+    # minimum margin of the region of interest from the edges of the image 
+    margin: 6
+    # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
+    separation: 6
+
 # Keep the number of tracks below 
-max_nb_tracks: 50
+max_nb_tracks: 30
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1