diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index aafe5801..a7e5c881 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -378,6 +378,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->checkBox_ignoreLocalLoopSpace, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_ignoreLocalLoopTime, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_ignoreUserLoop, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
+	connect(ui_->checkBox_ignoreLandmarks, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->doubleSpinBox_optimizationScale, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_octomap, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
 	connect(ui_->checkBox_grid_2d, SIGNAL(stateChanged(int)), this, SLOT(updateGrid()));
@@ -708,6 +709,7 @@ void DatabaseViewer::restoreDefaultSettings()
 	ui_->checkBox_ignoreLocalLoopSpace->setChecked(false);
 	ui_->checkBox_ignoreLocalLoopTime->setChecked(false);
 	ui_->checkBox_ignoreUserLoop->setChecked(false);
+	ui_->checkBox_ignoreLandmarks->setChecked(false);
 	ui_->doubleSpinBox_optimizationScale->setValue(1.0);
 	ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
 	ui_->doubleSpinBox_voxelSize->setValue(0.0);
@@ -5440,7 +5442,7 @@ void DatabaseViewer::updateConstraintView(
 				 link.type()==Link::kLocalSpaceClosure?"Space proximity link":
 				 link.type()==Link::kLocalTimeClosure?"Time proximity link":
 				 link.type()==Link::kUserClosure?"User link":
-				 link.type()==Link::kLandmark?"Landmark link":
+				 link.type()==Link::kLandmark?"Landmark "+QString::number(-link.to()):
 				 link.type()==Link::kVirtualClosure?"Virtual link":
 				 link.type()==Link::kGravity?"Gravity link":"Undefined"));
 	ui_->label_variance->setText(QString("%1, %2")
@@ -6569,6 +6571,11 @@ void DatabaseViewer::updateGraphView()
 			}
 			else if(iter->second.type() == Link::kLandmark)
 			{
+				if(ui_->checkBox_ignoreLandmarks->isChecked())
+				{
+					links.erase(iter++);
+					continue;
+				}
 				UASSERT(iter->second.from() > 0 && iter->second.to() < 0);
 				if(poses.find(iter->second.from()) != poses.end() && poses.find(iter->second.to()) == poses.end())
 				{
diff --git a/guilib/src/ui/DatabaseViewer.ui b/guilib/src/ui/DatabaseViewer.ui
index c8aa333b..f08dff45 100644
--- a/guilib/src/ui/DatabaseViewer.ui
+++ b/guilib/src/ui/DatabaseViewer.ui
@@ -61,7 +61,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>306</width>
+           <width>414</width>
            <height>311</height>
           </rect>
          </property>
@@ -304,7 +304,7 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>306</width>
+           <width>413</width>
            <height>311</height>
           </rect>
          </property>
@@ -1379,7 +1379,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>1</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -1387,7 +1387,7 @@
           <x>0</x>
           <y>0</y>
           <width>318</width>
-          <height>165</height>
+          <height>226</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1455,7 +1455,7 @@
            </property>
           </widget>
          </item>
-         <item row="6" column="0">
+         <item row="7" column="0">
           <spacer name="verticalSpacer_3">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -1518,6 +1518,23 @@
            </property>
           </widget>
          </item>
+         <item row="6" column="2">
+          <widget class="QLabel" name="label_58">
+           <property name="text">
+            <string>Ignore landmarks</string>
+           </property>
+          </widget>
+         </item>
+         <item row="6" column="0">
+          <widget class="QCheckBox" name="checkBox_ignoreLandmarks">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>false</bool>
+           </property>
+          </widget>
+         </item>
         </layout>
        </widget>
        <widget class="QWidget" name="page_4">
@@ -2079,8 +2096,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>226</width>
-          <height>160</height>
+          <width>312</width>
+          <height>226</height>
          </rect>
         </property>
         <attribute name="label">
@@ -2207,8 +2224,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>185</width>
-          <height>485</height>
+          <width>446</width>
+          <height>226</height>
          </rect>
         </property>
         <attribute name="label">