diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index bd3ee8484f9c3c715029847d4e7bbde91488cf95..9ab871938a0911749b21ca4193a2dcaa68908845 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: 25
+    min_features_for_keyframe: 30
 
 # Use a robust cost function
 apply_loss_function: false
 
 # Select the best new Keypoints when performing detection
-max_new_features: 15
+max_new_features: 30
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -38,7 +38,7 @@ klt_params:
 grid_params:
     # number of cells used by the active search grid data structure
     nbr_cells_h: 6  # horizontal
-    nbr_cells_v: 5  # vertical
+    nbr_cells_v: 6  # vertical
     # minimum margin of the region of interest from the edges of the image 
     margin: 10
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
diff --git a/yaml/solver.yaml b/yaml/solver.yaml
index b82f3900e3457335e8578bb2e5bf2d2284200c00..a3b1c83d3903e6774d5d31f55fe38e9c271380ec 100644
--- a/yaml/solver.yaml
+++ b/yaml/solver.yaml
@@ -1,11 +1,11 @@
 minimizer: "LEVENBERG_MARQUARDT"
-interrupt_on_problem_change: false
+interrupt_on_problem_change: true
 min_num_iterations: 1
-max_num_iterations: 20
+max_num_iterations: 30
 function_tolerance: 1e-8
 gradient_tolerance: 1e-9
 use_nonmonotonic_steps: false
 period: 0.05                     
-n_threads: 2
+n_threads: 4
 compute_cov: false
 verbose: 0
\ No newline at end of file