diff --git a/Benchmark.md b/Benchmark.md
index 2f93dd3..08328fd 100644
--- a/Benchmark.md
+++ b/Benchmark.md
@@ -105,7 +105,7 @@ ignored = 0
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/5/5a/NewCollege.png)
  * Note: You can use rtabmap-imagesJoiner tool to merge left and right images.
 
- ```
+```
 $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400  NewCollege
 ```
 
@@ -114,7 +114,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/d/d5/CityCentre.png)
  * Note: You can use rtabmap-imagesJoiner tool to merge left and right images.
 
- ```
+```
 $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400  CityCentre
 ```
 
@@ -131,7 +131,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/08/Lip6Outdoor.png)
  * Note: Keeping only even images and remove the last one.
 
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 10 -Rtabmap/TimeThr 1400  Lip6Outdoor
 ```
 
@@ -139,7 +139,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://www.robots.ox.ac.uk/~mobile)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/03/Eynsham70km.png)
 
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700  70km
 ```
 
@@ -147,7 +147,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://www.robots.ox.ac.uk/NewCollegeData/)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/3/33/NewCollegeOmni.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700  NewCollegeOmni
 ```
 
@@ -155,7 +155,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://haselab.info/pirf.html)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/c/c2/CrowdedCanteen.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 75 -Rtabmap/TimeThr 350  CrowdedCanteen
 ```
 
@@ -163,7 +163,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/4/43/BicoccaIndoor-2009-02-25b.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700  BicoccaIndoor-2009-02-25b
 ```
 
@@ -171,7 +171,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/0d/BovisaOutdoor-2008-10-04.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700  BovisaOutdoor-2008-10-04
 ```
 
@@ -179,7 +179,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/e1/BovisaMixed-2008-10-06.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700  BovisaMixed-2008-10-06
 ```
 
@@ -187,7 +187,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
  * [Dataset link](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Data_sets)
  * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/1/16/UdeS_1Hz.png)
  
- ```
+```
 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 150 -Rtabmap/TimeThr 700 UdeS_1Hz
 ```