diff --git a/rviz/online.rviz b/rviz/online.rviz
index df43917a6e316002f67846a92d4e5d5069118671..0cad8af391abd4ea08b1f60b51c6a4bdd62bb4c5 100644
--- a/rviz/online.rviz
+++ b/rviz/online.rviz
@@ -92,8 +92,6 @@ Visualization Manager:
       Marker Topic: /wolf_ros_node/graph_factors
       Name: Factors
       Namespaces:
-        factors_VISUALODOMETRY PROC: true
-        factors_text_VISUALODOMETRY PROC: true
         factors_text_unnamed_processor: true
         factors_unnamed_processor: true
       Queue Size: 1
@@ -103,8 +101,7 @@ Visualization Manager:
       Marker Topic: /wolf_ros_node/graph_landmarks
       Name: Landmarks
       Namespaces:
-        landmarks: true
-        landmarks_text: true
+        {}
       Queue Size: 1
       Value: true
     - Class: rviz/MarkerArray
@@ -216,7 +213,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -225,8 +222,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
-  X: 72
+  Width: 1920
+  X: 0
   Y: 27
   debug:
     collapsed: false
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index 53a337d1f925360d6d1e0789b89ef01f1cb9629b..6bf840cc238e3237d85d5572ef81a4760a0d0648 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -22,12 +22,12 @@ fast_params:
     # 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
+    active_search_grid_nb_h: 12  # horizontal
+    active_search_grid_nb_v: 10  # vertical
     # minimum margin of the region of interest from the edges of the image 
-    active_search_margin: 10
+    active_search_margin: 6
     # reduce the size of each region of interest by n pixels to prevent keypoints from being too close
-    active_search_separation: 10
+    active_search_separation: 6
     
 # Lucas Kanade tracking parameters
 klt_params: