diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index 5a78b517..8befb8ad 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -753,8 +753,8 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Marker, VarianceLinear,         float, 0.001, "Linear variance to set on marker detections.");
     RTABMAP_PARAM(Marker, VarianceAngular,        float, 0.01,  "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
     RTABMAP_PARAM(Marker, CornerRefinementMethod, int,   0,     "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
-    RTABMAP_PARAM(Marker, MaxRange,               float, -1,    "Maximum range in which markers will be detected. -1 is reserved for unlimited range.")
-    RTABMAP_PARAM(Marker, MinRange,               float, -1,    "Miniminum range in which markers will be detected. -1 is reserved for unlimited range.")
+    RTABMAP_PARAM(Marker, MaxRange,               float, 0.0,    "Maximum range in which markers will be detected. <=0 for unlimited range.");
+    RTABMAP_PARAM(Marker, MinRange,               float, 0.0,    "Miniminum range in which markers will be detected. <=0 for unlimited range.");
 
     RTABMAP_PARAM(ImuFilter, MadgwickGain,                  double, 0.1,  "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
     RTABMAP_PARAM(ImuFilter, MadgwickZeta,                  double, 0.0,  "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
diff --git a/corelib/src/MarkerDetector.cpp b/corelib/src/MarkerDetector.cpp
index 26b75d15..e34ca3a3 100644
--- a/corelib/src/MarkerDetector.cpp
+++ b/corelib/src/MarkerDetector.cpp
@@ -197,8 +197,8 @@ std::map<int, Transform> MarkerDetector::detect(const cv::Mat & image, const Cam
 
 			// Limit the detection range to be between the min / max range.
 			// If the ranges are -1, allow any detection within that direction.
-			if((maxRange_ == -1 || tvecs[i].val[2] < maxRange_) &&
-				(minRange_ == -1 || tvecs[i].val[2] > minRange_))
+			if((maxRange_ <= 0 || tvecs[i].val[2] < maxRange_) &&
+				(minRange_ <= 0 || tvecs[i].val[2] > minRange_))
 			{
 				cv::Mat R;
 				cv::Rodrigues(rvecs[i], R);