diff --git a/doc/Tutorials/Stereo_indoor/stereo.ini b/doc/Tutorials/Stereo_indoor/stereo.ini
new file mode 100644
index 0000000..a3509e0
--- /dev/null
+++ b/doc/Tutorials/Stereo_indoor/stereo.ini
@@ -0,0 +1,244 @@
+[Gui]
+General\imagesKept=true
+General\loggerLevel=2
+General\loggerEventLevel=3
+General\loggerPauseLevel=3
+General\loggerType=1
+General\loggerPrintTime=true
+General\verticalLayoutUsed=true
+General\imageFlipped=false
+General\imageRejectedShown=true
+General\imageHighestHypShown=false
+General\beep=false
+General\keypointsOpacity=20
+General\odomQualityThr=50
+General\posteriorGraphView=true
+General\showClouds0=true
+General\voxelSize0=0
+General\decimation0=4
+General\maxDepth0=4
+General\showScans0=true
+General\opacity0=1
+General\ptSize0=1
+General\opacityScan0=1
+General\ptSizeScan0=1
+General\showClouds1=true
+General\voxelSize1=0
+General\decimation1=2
+General\maxDepth1=0
+General\showScans1=true
+General\opacity1=1
+General\ptSize1=2
+General\opacityScan1=1
+General\ptSizeScan1=1
+General\showGraphs=true
+General\meshing=false
+General\meshGP3Radius=0.04
+General\meshNormalKSearch=20
+General\meshSmoothing=false
+General\meshSmoothingRadius=0.04
+General\cloudFiltering=true
+General\cloudFilteringRadius=0.1
+General\cloudFilteringAngle=30
+General\gridMapShown=false
+General\gridMapResolution=0.05
+General\gridMapFillEmptySpace=true
+General\gridMapOccupancyFrom3DCloud=false
+General\gridMapFillEmptyRadius=0
+General\gridMapOpacity=0.75
+
+[Camera]
+imageUsed=false
+imgRate=20
+type=0
+imgWidth=0
+imgHeight=0
+usbDevice\id=0
+images\path=
+images\startPos=1
+images\refreshDir=false
+video\path=
+
+[Database]
+databaseUsed=true
+path=/home/mathieu/.ros/output1.db
+ignoreOdometry=true
+startPos=0
+
+[Openni]
+openniUsed=false
+openniType=false
+freenectType=false
+openni2=true
+openniCvType=false
+openniCvAsusType=false
+openni2AutoWhiteBalance=true
+openni2AutoExposure=true
+openni2Exposure=0
+openni2Gain=100
+device=
+localTransform=0 0 0 -PI_2 0 -PI_2
+fx=0
+fy=0
+cx=0
+cy=0
+
+[Core]
+Version=0.8.0
+BRIEF\Bytes=32
+BRISK\Octaves=3
+BRISK\PatternScale=1
+BRISK\Thresh=30
+Bayes\FullPredictionUpdate=false
+Bayes\PredictionLC=0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23
+Bayes\VirtualPlacePriorThr=0.9
+DbSqlite3\CacheSize=10000
+DbSqlite3\InMemory=false
+DbSqlite3\JournalMode=3
+DbSqlite3\Synchronous=0
+DbSqlite3\TempStore=2
+FAST\Gpu=false
+FAST\GpuKeypointsRatio=0.05
+FAST\NonmaxSuppression=true
+FAST\Threshold=30
+FREAK\NOctaves=4
+FREAK\OrientationNormalized=true
+FREAK\PatternScale=22
+FREAK\ScaleNormalized=true
+GFTT\BlockSize=3
+GFTT\K=0.04
+GFTT\MaxCorners=500
+GFTT\MinDistance=5
+GFTT\QualityLevel=0.01
+GFTT\UseHarrisDetector=false
+Kp\BadSignRatio=0.2
+Kp\DetectorStrategy=0
+Kp\DictionaryPath=
+Kp\IncrementalDictionary=true
+Kp\MaxDepth=0
+Kp\NNStrategy=1
+Kp\NewWordsComparedTogether=true
+Kp\NndrRatio=0.8
+Kp\Parallelized=true
+Kp\RoiRatios=0.0 0.0 0.0 0.0
+Kp\SubPixEps=0.02
+Kp\SubPixIterations=0
+Kp\SubPixWinSize=3
+Kp\TfIdfLikelihoodUsed=true
+Kp\WordsPerImage=400
+LccBow\Force2D=false
+LccBow\InlierDistance=0.1
+LccBow\Iterations=100
+LccBow\MaxDepth=10
+LccBow\MinInliers=10
+LccIcp\MaxDistance=0.2
+LccIcp\Type=0
+LccIcp2\CorrespondenceRatio=0.7
+LccIcp2\Iterations=30
+LccIcp2\MaxCorrespondenceDistance=0.1
+LccIcp2\VoxelSize=0.005
+LccIcp3\CorrespondenceRatio=0.7
+LccIcp3\Decimation=8
+LccIcp3\Iterations=30
+LccIcp3\MaxCorrespondenceDistance=0.05
+LccIcp3\MaxDepth=4
+LccIcp3\PointToPlane=false
+LccIcp3\PointToPlaneNormalNeighbors=20
+LccIcp3\Samples=0
+LccIcp3\VoxelSize=0.01
+LccReextract\Activated=true
+LccReextract\FeatureType=4
+LccReextract\MaxWords=600
+LccReextract\NNDR=0.9
+LccReextract\NNType=3
+Mem\BadSignaturesIgnored=false
+Mem\GenerateIds=true
+Mem\ImageKept=true
+Mem\IncrementalMemory=true
+Mem\InitWMWithAllNodes=false
+Mem\RecentWmRatio=0.2
+Mem\RehearsalIdUpdatedToNewOne=false
+Mem\RehearsalSimilarity=0.6
+Mem\RehearsedNodesKept=true
+Mem\STMSize=10
+ORB\EdgeThreshold=31
+ORB\FirstLevel=0
+ORB\Gpu=false
+ORB\NFeatures=400
+ORB\NLevels=1
+ORB\PatchSize=31
+ORB\ScaleFactor=1.2
+ORB\ScoreType=0
+ORB\WTA_K=2
+Odom\FeatureType=6
+Odom\FillInfoData=true
+Odom\Force2D=false
+Odom\InlierDistance=0.1
+Odom\Iterations=30
+Odom\MaxDepth=10
+Odom\MaxFeatures=0
+Odom\MinInliers=10
+Odom\RefineIterations=5
+Odom\ResetCountdown=0
+Odom\RoiRatios=0.03 0.03 0.04 0.04
+Odom\Strategy=0
+OdomBow\LocalHistorySize=1000
+OdomBow\NNDR=0.9
+OdomBow\NNType=3
+OdomFlow\Eps=0.01
+OdomFlow\Iterations=30
+OdomFlow\MaxLevel=3
+OdomFlow\WinSize=16
+OdomSubPix\Eps=0.02
+OdomSubPix\Iterations=0
+OdomSubPix\WinSize=3
+RGBD\AngularUpdate=0
+RGBD\Enabled=true
+RGBD\LinearUpdate=0
+RGBD\LocalLoopDetectionMaxDiffID=0
+RGBD\LocalLoopDetectionNeighbors=20
+RGBD\LocalLoopDetectionRadius=15
+RGBD\LocalLoopDetectionSpace=false
+RGBD\LocalLoopDetectionTime=false
+RGBD\NewMapOdomChangeDistance=0
+RGBD\OptimizeFromGraphEnd=false
+RGBD\PoseScanMatching=false
+RGBD\ToroIgnoreVariance=false
+RGBD\ToroIterations=100
+Rtabmap\DetectionRate=1
+Rtabmap\ImageBufferSize=1
+Rtabmap\LoopRatio=0
+Rtabmap\LoopThr=0.11
+Rtabmap\MaxRetrieved=2
+Rtabmap\MemoryThr=0
+Rtabmap\PublishLastSignature=true
+Rtabmap\PublishLikelihood=true
+Rtabmap\PublishPdf=true
+Rtabmap\PublishStats=true
+Rtabmap\StartNewMapOnLoopClosure=false
+Rtabmap\StatisticLogged=false
+Rtabmap\StatisticLoggedHeaders=true
+Rtabmap\StatisticLogsBufferedInRAM=true
+Rtabmap\TimeThr=0
+Rtabmap\VhStrategy=0
+Rtabmap\WorkingDirectory=/home/mathieu/Documents/RTAB-Map
+SIFT\ContrastThreshold=0.04
+SIFT\EdgeThreshold=10
+SIFT\NFeatures=0
+SIFT\NOctaveLayers=3
+SIFT\Sigma=1.6
+SURF\Extended=false
+SURF\GpuKeypointsRatio=0.01
+SURF\GpuVersion=false
+SURF\HessianThreshold=150
+SURF\OctaveLayers=2
+SURF\Octaves=4
+SURF\Upright=false
+Stereo\Eps=0.01
+Stereo\Iterations=30
+Stereo\MaxLevel=3
+Stereo\MaxSlope=0.1
+Stereo\WinSize=16
+VhEp\MatchCountMin=8
+VhEp\RansacParam1=3
+VhEp\RansacParam2=0.99
diff --git a/doc/Tutorials/Stereo_indoor/stereo.png b/doc/Tutorials/Stereo_indoor/stereo.png
new file mode 100644
index 0000000..cdcb1c2
Binary files /dev/null and b/doc/Tutorials/Stereo_indoor/stereo.png differ