diff --git a/Installation.md b/Installation.md
index 00e5805..e9c3b0c 100644
--- a/Installation.md
+++ b/Installation.md
@@ -6,6 +6,8 @@ This page shows how to install RTAB-Map on different systems. For previous relea
  * [Standalone](#standalone)  
      * [Ubuntu](#ubuntu)
      * [Docker](#docker)
+         * [Image RTAB-Map Desktop](#docker)
+         * [Image RTAB-Map Tango](#docker)
      * [Raspberry Pi](#raspberrypi)
      * [Mac OS X](#macosx)
      * [Windows](#windows)
@@ -116,65 +118,66 @@ $ sudo make install
 
 ## Docker <img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/docker.png" alt="Docker" height="20"/>
 * Docker repository: [intolab3it/rtabmap](https://hub.docker.com/r/introlab3it/rtabmap/)
-    * RTAB-Map Desktop (ubuntu 16.04)
-        ```bash
-        $ docker pull introlab3it/rtabmap:latest
+#### RTAB-Map Desktop (ubuntu 16.04)
+
+```bash
+$ docker pull introlab3it/rtabmap:latest
+```
+* To be able to run rtabmap, we should install opengl support in the image. To do so, visit [this tutorial](http://gernotklingler.com/blog/howto-get-hardware-accelerated-opengl-support-docker/) for details. Replace `FROM ubuntu` by `FROM introlab3it/rtabmap`. 
+1. Create a `Dockerfile` (example on Ubuntu host machine, choose GPU driver used on host machine):
+    * NVIDIA driver:
+        1. Download on [nvidia website](http://www.nvidia.com/object/unix.html) the same driver (e.g., NVIDIA-Linux-x86_64-375.39.run) than the one installed on the host computer
+        2. Rename it to NVIDIA_DRIVER.run
+        ```docker
+        FROM introlab3it/rtabmap
+
+        RUN apt-get update
+        RUN apt-get install -y mesa-utils
+
+        # install nvidia driver
+        RUN apt-get install -y binutils kmod
+        ADD NVIDIA-DRIVER.run /tmp/NVIDIA-DRIVER.run
+        RUN sh /tmp/NVIDIA-DRIVER.run -a -N --ui=none --no-kernel-module
+        RUN rm /tmp/NVIDIA-DRIVER.run
         ```
-        * To be able to run rtabmap, we should install opengl support in the image. To do so, visit [this tutorial](http://gernotklingler.com/blog/howto-get-hardware-accelerated-opengl-support-docker/) for details. Replace `FROM ubuntu` by `FROM introlab3it/rtabmap`. 
-        1. Create a `Dockerfile` (example on Ubuntu host machine, choose GPU driver used on host machine):
-            * NVIDIA driver:
-                1. Download on [nvidia website](http://www.nvidia.com/object/unix.html) the same driver (e.g., NVIDIA-Linux-x86_64-375.39.run) than the one installed on the host computer
-                2. Rename it to NVIDIA_DRIVER.run
-                ```docker
-                FROM introlab3it/rtabmap
+    * Open Source driver:
+        ```docker
+        FROM introlab3it/rtabmap
 
-                RUN apt-get update
-                RUN apt-get install -y mesa-utils
+        RUN apt-get update
+        RUN apt-get install -y mesa-utils
+        RUN apt-get install -y xserver-xorg-video-all
+        ```
+2. Build image:
+    ```bash
+    $ docker build -t rtabmap3d .
+    ```
+3. Allow connections to X server
+   ```bash
+    $ xhost +
+    ```
+4. Run rtabmap!
+   ```bash
+    $ docker run --privileged -e "DISPLAY=unix$DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw"  -i -t --rm rtabmap3d rtabmap
+    ```
 
-                # install nvidia driver
-                RUN apt-get install -y binutils kmod
-                ADD NVIDIA-DRIVER.run /tmp/NVIDIA-DRIVER.run
-                RUN sh /tmp/NVIDIA-DRIVER.run -a -N --ui=none --no-kernel-module
-                RUN rm /tmp/NVIDIA-DRIVER.run
-                ```
-            * Open Source driver:
-                ```docker
-                FROM introlab3it/rtabmap
-
-                RUN apt-get update
-                RUN apt-get install -y mesa-utils
-                RUN apt-get install -y xserver-xorg-video-all
-                ```
-        2. Build image:
-            ```bash
-            $ docker build -t rtabmap3d .
-            ```
-        3. Allow connections to X server
-           ```bash
-            $ xhost +
-            ```
-        4. Run rtabmap!
-           ```bash
-            $ docker run --privileged -e "DISPLAY=unix$DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw"  -i -t --rm rtabmap3d rtabmap
-            ```
-
-    * RTAB-Map Tango (APK)
+#### RTAB-Map Tango (APK)
+```bash
+$ docker pull introlab3it/rtabmap:tango
+```
+Note that `arm64-v8a` APK contains both `armeabi-v7a` and `arm64-v8a` binaries.
+* Install APK, 2 choices:
+     1. Copy file on host computer then install it with `adb` from there:
+        ```bash
+        $ docker run --name=rtabmap-tango introlab3it/rtabmap:tango
+        $ docker cp rtabmap-tango:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
+        $ docker rm rtabmap-tango # cleanup container
+        $ adb install -r RTABMap-debug.apk
+        ```
+    2. Call `adb` from container:
         ```bash
-        $ docker pull introlab3it/rtabmap:tango
+        $ docker run --privileged -i -t --rm -v /dev/bus/usb:/dev/bus/usb introlab3it/rtabmap:tango adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
         ```
-        Note that `arm64-v8a` APK contains both `armeabi-v7a` and `arm64-v8a` binaries.
-        * Install APK, 2 choices:
-            1. Copy file on host computer then install it with `adb` from there:
-                ```bash
-                $ docker run --name=rtabmap-tango introlab3it/rtabmap:tango
-                $ docker cp rtabmap-tango:/root/rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk .
-                $ docker rm rtabmap-tango # cleanup container
-                $ adb install -r RTABMap-debug.apk
-                ```
-            2. Call `adb` from container:
-                ```bash
-                $ docker run --privileged -i -t --rm -v /dev/bus/usb:/dev/bus/usb introlab3it/rtabmap:tango adb install -r rtabmap-tango/build/arm64-v8a/app/android/bin/RTABMap-debug.apk
-                ```
 
 <a name="raspberrypi"/>