diff --git a/Benchmark-SLAM.md b/Benchmark-SLAM.md
index f8e33b2..f4721fb 100644
--- a/Benchmark-SLAM.md
+++ b/Benchmark-SLAM.md
@@ -43,6 +43,27 @@ RGBDImages\scale=5
 Images\filenames_as_stamps=true
 Images\gt_path=~/Downloads/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt
 Images\gt_format=1
+
+ScanFromDepth\enabled=true
+ScanFromDepth\decimation=16
+ScanFromDepth\maxDepth=4
+ScanFromDepth\voxelSize=0.05
+ScanFromDepth\normalsK=6
+
+[Core]
+Reg\Strategy=2
+Odom\Strategy=1
+
+Icp\CorrespondenceRatio=0.1
+Icp\DownsamplingStep=1
+Icp\Epsilon=0
+Icp\Iterations=30
+Icp\MaxCorrespondenceDistance=0.03
+Icp\MaxRotation=0.78
+Icp\MaxTranslation=0.2
+Icp\PointToPlane=true
+Icp\PointToPlaneNormalNeighbors=20
+Icp\VoxelSize=0
 ```
 
 ## RGB-D Dataset 7-Scenes