diff --git a/launch/azimut3/az3_mapping_robot_nav.launch b/launch/azimut3/az3_mapping_robot_nav.launch
index 452c3002..85f6bf7c 100644
--- a/launch/azimut3/az3_mapping_robot_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_nav.launch
@@ -88,6 +88,7 @@
 	
 	  <remap from="odom" to="/base_controller/odom"/>
 	  <remap from="scan" to="/base_scan"/>
+	  <remap from="mapData" to="mapData_notOptimized"/>
 
 	  <remap from="rgb/image" to="/camera/data_throttled_image"/>
   	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
@@ -96,22 +97,49 @@
 	  <param name="queue_size" type="int" value="10"/>
 	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-	  <param name="RGBD/ScanMatchingSize" type="string" value="1"/>             <!-- Do odometry correction with consecutive laser scans -->
-	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
-	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>    <!-- Local loop closure detection with locations in STM -->
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
-	  <param name="LccIcp/Type" type="string" value="2"/>                       <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
+	  <param name="RGBD/ScanMatchingSize" type="string" value="1"/>           
+	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
+  
+	  <param name="LccIcp/Type" type="string" value="2"/>                    
 	  <param name="LccIcp2/Iterations" type="string" value="100"/>
 	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
-	  <param name="LccBow/MinInliers" type="string" value="5"/>                 <!-- 3D visual words minimum inliers to accept loop closure -->
-	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>                 <!-- 3D visual words maximum depth 0=infinity -->
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>           <!-- 3D visual words correspondence distance -->
+	 
 	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
 	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
-	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
+	  
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
-          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>   
+
+	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
+    	  <param name="Rtabmap/DetectionRate" type="string" value="1"/>
+
+	  <param name="RGBD/ToroIterations" type="string" value="0"/>
+    	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
+	 
+	  <param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
+	  <param name="Kp/DetectorStrategy" type="string" value="0"/>
+    	  <param name="Kp/WordsPerImage" type="string" value="200"/>
+    	  <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
+    	  <param name="Kp/NNStrategy" type="string" value="1"/>
+	  
+	  <param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
+	  
+	  <param name="SURF/HessianThreshold" type="string" value="1000"/>
+	  
+    	  <param name="LccBow/MaxDepth" type="string" value="4"/>
+    	  <param name="LccBow/MinInliers" type="string" value="10"/>
+    	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>
+      
+    	  <param name="LccReextract/Activated" type="string" value="true"/>
+    	  <param name="LccReextract/FeatureType" type="string" value="4"/>
+	  <param name="LccReextract/MaxWords" type="string" value="400"/>
+	  <param name="LccReextract/NNDR" type="string" value="0.8"/>
+	  <param name="LccReextract/NNType" type="string" value="3"/>   
+    </node>
+    <!-- to always have the global map optimized -->
+    <node pkg="rtabmap" type="map_optimizer" name="map_optimizer">
+   	  <remap from="mapData" to="mapData_notOptimized"/>
+	  <remap from="mapData_notOptimized_optimized" to="mapData"/> 
     </node>
   </group>
 </launch>