diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 7ea4076c5f601a044f2ebbdbd88c2de61b2a07dc..46c9eac9f5eb8dc0bb0f1175ce039d80fccf3d1d 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -21,7 +21,14 @@ fast_params:
     threshold_fast: 20
     # Avoids getting multiple keypoints at the same place
     non_max_suppresion: true
-
+    # number of cells used by the active search grid data structure
+    active_search_grid_nb_h: 8  # horizontal
+    active_search_grid_nb_v: 8  # vertical
+    # minimum margin of the region of interest from the edges of the image 
+    active_search_margin: 10
+    # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
+    active_search_separation: 10
+    
 # Lucas Kanade tracking parameters
 klt_params:
     patch_width:      11