diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 76dd965f7ac76f83846cff448e393fe768efea9b..900d36cafa65fe1d84d7623722de4c699e5c9a33 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -82,29 +82,6 @@ config:
       topic: "/debug_image"
       topic_preprocessor: "/debug_image_preprocessor"
       package: "wolf_ros_vision"
-      period: 0.25
-      tracks:
-        show_id: true
-        size_id: 0.5
-        thickness: 1.5
-        color: "CYAN"
-        min_lum: 100
-        max_lum: 450
-        feature_last:
-          thickness: -1
-          size_pix: 2
-          color: "RED"
-        feature_kfs:
-          thickness: 0.1
-          size_pix: 1
-      tracks_preprocess:
-        show: false
-        show_on_diff_topic: false
-        thickness: 1.5
-        color: "CYAN"
-      landmarks:
-        show_id: false
-        size_id: 0.5
-        size_pix: 5
-        color: "GREY"
+      period: 0.1
+      follow: "publisher_vision_debug.yaml"
 
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 4f04100af3c66e8748f20bf3c82373f11446f68a..581ecc6d4c4a5765771d1f9a98c110bcd9ab4752 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: 30
+    min_features_for_keyframe: 50
 
 # Use a robust cost function
 apply_loss_function: true
 
 # Select the best new Keypoints when performing detection
-max_new_features: 30
+max_new_features: 100
 
 ####################################
 # ProcessorVisualOdometry parameters
@@ -30,10 +30,10 @@ klt_params:
     klt_max_err:      0.3
 
 # Keep the number of tracks below 
-max_nb_tracks: 60
+max_nb_tracks: 100
 
 # standard deviation of the pixel reprojection factor 
 std_pix: 1
 
 # before creating a landmark, wait until the track is old enough
-min_track_length_for_landmark: 3
+min_track_length_for_landmark: 5
diff --git a/yaml/publisher_vision_debug.yaml b/yaml/publisher_vision_debug.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cfb1ba553344af10081926266fc9bd1b4ed9e6ee
--- /dev/null
+++ b/yaml/publisher_vision_debug.yaml
@@ -0,0 +1,26 @@
+tracks:
+    show_id: true
+    size_id: 0.5
+    thickness: 1.5
+    color: "CYAN"
+    min_lum: 100
+    max_lum: 450
+    feature_last:
+        thickness: -1
+        size_pix: 2
+        color: "RED"
+    feature_kfs:
+        thickness: 0.1
+        size_pix: 1
+
+tracks_preprocess:
+    show: false
+    show_on_diff_topic: false
+    thickness: 1.5
+    color: "CYAN"
+
+landmarks:
+    show_id: false
+    size_id: 0.5
+    size_pix: 5
+    color: "GREY"