diff --git a/launch/demo/demo_stereo_outdoor.launch b/launch/demo/demo_stereo_outdoor.launch
index fc3de495..1c3be006 100644
--- a/launch/demo/demo_stereo_outdoor.launch
+++ b/launch/demo/demo_stereo_outdoor.launch
@@ -48,17 +48,13 @@
       <param name="frame_id" type="string" value="base_footprint"/>
       <param name="odom_frame_id" type="string" value="odom"/>
 
-      <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=BOW, 1=OpticalFlow -->
-      <param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
-      <param name="Vis/MinInliers" type="string" value="10"/>
-      <param name="Vis/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
+      <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
+      <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
       <param name="Vis/MaxDepth" type="string" value="10"/>
-      <param name="Vis/NNDR" type="string" value="0.8"/>
-      <param name="Vis/MaxFeatures" type="string" value="1000"/>
-      <param name="Vis/CorGuessWinSize" type="string" value="31"/>
-      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
+      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> 
       <param name="GFTT/MinDistance" type="string" value="10"/>
       <param name="GFTT/QualityLevel" type="string" value="0.00001"/> 
+      
    </node>
      
    <group ns="rtabmap">   
@@ -79,20 +75,12 @@
 
          <!-- RTAB-Map's parameters -->
          <param name="Rtabmap/TimeThr" type="string" value="700"/>
-         <param name="Rtabmap/DetectionRate" type="string" value="1"/>
-         
          <param name="Kp/MaxFeatures" type="string" value="200"/>
-         <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
+         <param name="Kp/MaxDepth"    type="string" value="10"/>
          <param name="Kp/DetectorStrategy" type="string" value="0"/>   <!-- use SURF -->
-         <param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
-
          <param name="SURF/HessianThreshold" type="string" value="1000"/>
-
-         <param name="Vis/MinInliers" type="string" value="10"/>
-         <param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
-
+         <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
          <param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
-         <param name="Vis/MaxFeatures" type="string" value="500"/>
          <param name="Vis/MaxDepth" type="string" value="10"/> 
       </node>