diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 0be3673101f0ff28e35017dcfd4501d0bb964248..ff9b713aba154f350ba216a6178c60a83b739952 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -4,7 +4,7 @@ config:
     profiling: true
     profiling_file: "~/wolf_demo_visual_odometry_profiling.txt"
     print_problem: true
-    print_depth: 2            # only if print_problem
+    print_depth: 3            # only if print_problem
     print_constr_by: false     # only if print_problem
     print_metric: false        # only if print_problem
     print_state_blocks: false  # only if print_problem
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index fdcacde0f60845feeaff481451c9b64ae3730bc8..7cc9dbbccc13c9e332a6d70aad00932a9b616572 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -3,17 +3,17 @@ algorithm:
     voting_active: true
 
 klt_params:
-    patch_width: 21
-    patch_height: 21
-    nlevels_pyramids: 3
-    klt_max_err: 0.2
+    patch_width: 15
+    patch_height: 15
+    nlevels_pyramids: 5
+    klt_max_err: 0.5
 
 fast_params:
-    threshold_fast: 30
+    threshold_fast: 50
     non_max_suppresion: true
 
-min_nb_tracks: 30
-max_nb_tracks: 50
+min_nb_tracks: 50
+max_nb_tracks: 100
 
 std_pix: 1