diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 76175011e6a3c0cfefbf5aa676d20dae76bbe63e..4f58e66a74f8f07a66dc667f707a8cfab5a5a799 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: 50
+    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: 100
+max_new_features: 10
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -30,7 +30,7 @@ klt_params:
     klt_max_err:      0.3
 
 # Keep the number of tracks below 
-max_nb_tracks: 100
+max_nb_tracks: 50
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1