diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index bdf71ab0f0dcaa1caad8511416dd22a066988bbf..2de01ca66436be145758fea91b3aa6c26bd9e558 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -1,3 +1,6 @@
+####################################
+# ProcessorTracker parameters
+####################################
 time_tolerance: 0.005
 
 keyframe_vote:
@@ -10,62 +13,69 @@ keyframe_vote:
 apply_loss_function: false
 
 # Select the best new Keypoints when performing detection
-max_new_features: 30
+max_new_features: 10
 
 ####################################
 # ProcessorVisualOdometry parameters
+####################################
+
+#-----------------------------------
+# Pre-processor parameters
+#-----------------------------------
 
 # Image Equalization methods
 #   0: none
 #   1: average
 #   2: histogram_equalization
 #   3: CLAHE = Contrast Limited Adaptive Histogram Equalization, 1-1.5 ms overhead
-equalization_params:
+equalization:
     method: 1
     average:
-        median: 127 # half of 8 bits = 255/2 = 127.5 --> to integer
+        median: 127 # half of 8 bits = 255/2 = 127.5 --> to integer <-- TODO we could maybe automate this
     histogram:
     clahe:
         clip_limit: 2
         tile_grid_size: [8,8]
 
 # FAST KeyPoint detection 
-fast_params:
+fast:
     # Threshold on the keypoint pixel intensity (in uchar [0-255]) 
     # the higher, the more selective the detector is
-    threshold_fast: 10
+    threshold: 10
     # Avoids getting multiple keypoints at the same place
     non_max_suppresion: false
     
-# Lucas Kanade tracking parameters
-klt_params:
+# Lucas Kanade tracking
+klt:
     patch_width:      21
     patch_height:     21
     nlevels_pyramids: 3
-    klt_max_err:      0.2
+    max_err:          0.2
 
-# tesselation grid    
-grid_params:
+# Tesselation grid    
+grid:
     # number of cells used by the active search grid data structure
-    nbr_cells_h: 6  # horizontal
-    nbr_cells_v: 6  # vertical
+    nbr_cells_h: 8  # horizontal
+    nbr_cells_v: 8  # 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
     separation: 10
 
-ransac_params:
+ransac:
     # specifies a desirable level of confidence (probability) that the estimated matrix is correct
-    ransac_prob: 0.999
+    prob: 0.999
     # maximum distance from a point to an epipolar line in pixels, beyond which the point 
     # is considered an outlier and is not used for computing the final fundamental matrix
-    ransac_thresh: 1
+    thresh: 1
+
 
-# Keep the number of tracks below 
-max_nb_tracks: 30 # not used currently
+#-----------------------------------
+# Processor parameters
+#-----------------------------------
 
 # standard deviation of the pixel reprojection factor 
-std_pix: 2
+std_pix: 0.5
 
 # before creating a landmark, wait until the track is old enough
 min_track_length_for_landmark: 10