diff --git a/Multi-Session-Mapping-with-RTAB-Map-Tango.md b/Multi-Session-Mapping-with-RTAB-Map-Tango.md
index 0c7f144..ab15691 100644
--- a/Multi-Session-Mapping-with-RTAB-Map-Tango.md
+++ b/Multi-Session-Mapping-with-RTAB-Map-Tango.md
@@ -61,11 +61,11 @@ Open Preferences dialog and go to Source panel. Select `Database` for the "Sourc
 #### Processing the databases without GUI
 * For convenience, to merge databases using command line instructions, we can use `rtabmap-reprocess` console application like this (**version >=0.18 required**):
     ```bash
-    $ rtabmap-reprocess "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
+    rtabmap-reprocess "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
     ```
 * With gravity constraints (**version >=0.19.5 required**):
     ```bash
-    $ rtabmap-reprocess --Optimizer/GravitySigma 0.3 --Mem/UseOdomGravity true "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
+    rtabmap-reprocess --Optimizer/GravitySigma 0.3 --Mem/UseOdomGravity true "chalet1.db;chalet2.db;chalet3.db;chalet4.db" merged.db
     ```
 
 ### 6. (Optional) Post-Processing
@@ -79,7 +79,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
 #### Without GUI
 * **version >=0.19.6 required** (`--multiband` option only available when RTAB-Map is built with [AliceVision](https://alicevision.org/) support):
     ```bash
-    $ rtabmap-export --texture --texture_size 4096 --texture_range 3 --poisson_depth 9 --max_polygons 500000 --multiband --color_radius 0 --no_clean  merged.db
+    rtabmap-export --texture --texture_size 4096 --texture_range 3 --poisson_depth 9 --max_polygons 500000 --multiband --color_radius 0 --no_clean  merged.db
     ```
 
 ## Example with Docker
@@ -87,7 +87,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
 
     ``` bash
     # Merge the databases
-    $ docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
+    docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
        --workdir /MultiSessionTango --user $(id -u):$(id -g)\
        introlab3it/rtabmap:focal \
        rtabmap-reprocess \
@@ -97,7 +97,7 @@ Click "File->Export 3D clouds..." and setup the panel as the following screensho
           merged.db
 
     # Export texture mesh (focal image to have AliceVision support, not needed if --multiband is not used)
-    $ docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
+    docker run -it --rm -v ~/Downloads/MultiSessionTango:/MultiSessionTango \
        --workdir /MultiSessionTango --user $(id -u):$(id -g) \
        introlab3it/rtabmap:focal \
        rtabmap-export \