diff --git a/guilib/include/rtabmap/gui/PreferencesDialog.h b/guilib/include/rtabmap/gui/PreferencesDialog.h
index 0d11e8e1..0d6607cb 100644
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -301,7 +301,6 @@ private slots:
 	void addParameter(double value);
 	void addParameter(const QString & value);
 	void updatePredictionPlot();
-	void updateOdometryVisibility();
 	void updateKpROI();
 	void updateStereoDisparityVisibility();
 	void useOdomFeatures();
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 78d3cfa8..fb66de3f 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -907,7 +907,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	//Odometry
 	_ui->odom_strategy->setObjectName(Parameters::kOdomStrategy().c_str());
 	connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_odometryType, SLOT(setCurrentIndex(int)));
-	connect(_ui->odom_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(updateOdometryVisibility()));
 	_ui->odom_strategy->setCurrentIndex(Parameters::defaultOdomStrategy());
 	_ui->odom_countdown->setObjectName(Parameters::kOdomResetCountdown().c_str());
 	_ui->odom_holonomic->setObjectName(Parameters::kOdomHolonomic().c_str());
@@ -1628,7 +1627,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		if(groupBox->objectName() == _ui->groupBox_odometry1->objectName())
 		{
 			_ui->odom_registration->setCurrentIndex(3);
-			updateOdometryVisibility();
 		}
 	}
 }
@@ -3950,18 +3948,6 @@ void PreferencesDialog::setupKpRoiPanel()
 	_ui->doubleSpinBox_kp_roi3->setValue(strings[3].toDouble()*100.0);
 }
 
-void PreferencesDialog::updateOdometryVisibility()
-{
-	UASSERT(_ui->odom_strategy->count() == 6);
-	_ui->groupBox_odomF2M->setVisible(_ui->odom_strategy->currentIndex()==0);
-	_ui->groupBox_odomF2F->setVisible(_ui->odom_strategy->currentIndex()==1);
-	_ui->groupBox_odomFovis->setVisible(_ui->odom_strategy->currentIndex()==2);
-	_ui->groupBox_odomViso2->setVisible(_ui->odom_strategy->currentIndex()==3);
-	_ui->groupBox_odomDVO->setVisible(_ui->odom_strategy->currentIndex()==4);
-	_ui->groupBox_odomORBSLAM2->setVisible(_ui->odom_strategy->currentIndex()==5);
-	_ui->groupBox_odomMono->setVisible(_ui->odom_strategy->currentIndex()==6);
-}
-
 void PreferencesDialog::updateKpROI()
 {
 	QStringList strings;
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index cdd5246f..8c235384 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
-            <width>678</width>
-            <height>2736</height>
+            <y>-531</y>
+            <width>673</width>
+            <height>2749</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>21</number>
+                <number>18</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -10018,7 +10018,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_odometryType">
                       <property name="currentIndex">
-                       <number>5</number>
+                       <number>0</number>
                       </property>
                       <widget class="QWidget" name="page_52">
                        <layout class="QVBoxLayout" name="verticalLayout_77">