diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index 69e35644..b34ea8a5 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -317,7 +317,7 @@ class RTABMAP_EXP Parameters
 	// Odometry Bag-of-words
 	RTABMAP_PARAM(OdomBow, LocalHistorySize,       int, 1000,      "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
 	RTABMAP_PARAM(OdomBow, NNType,                 int, 3, 	    "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
-	RTABMAP_PARAM(OdomBow, NNDR,                   float, 0.9,  "NNDR: nearest neighbor distance ratio.");
+	RTABMAP_PARAM(OdomBow, NNDR,                   float, 0.8,  "NNDR: nearest neighbor distance ratio.");
 
 	// Odometry common stuff between BOW and Optical Flow approaches
 	RTABMAP_PARAM(OdomFlow, WinSize,               int, 16,       "Used for optical flow approach and for stereo matching. See cv::calcOpticalFlowPyrLK().");
@@ -340,7 +340,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(LccBow, Force2D, 		   bool, false,     "Force 2D transform (3Dof: x,y and yaw).");
 	RTABMAP_PARAM_COND(LccReextract, Activated, bool, RTABMAP_NONFREE, false, true, "Activate re-extracting features on global loop closure.");
 	RTABMAP_PARAM(LccReextract, NNType, 	int, 3, 		"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4.");
-	RTABMAP_PARAM(LccReextract, NNDR, 		float, 0.9, 	"NNDR: nearest neighbor distance ratio.");
+	RTABMAP_PARAM(LccReextract, NNDR, 		float, 0.8, 	"NNDR: nearest neighbor distance ratio.");
 	RTABMAP_PARAM(LccReextract, FeatureType, int, 4, 		"0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK.");
 	RTABMAP_PARAM(LccReextract, MaxWords, 	int, 600, 		"0 no limits.");