diff --git a/launch/demo/demo_two_kinects.launch b/launch/demo/demo_two_kinects.launch
index 63d77cc7..e08f430e 100644
--- a/launch/demo/demo_two_kinects.launch
+++ b/launch/demo/demo_two_kinects.launch
@@ -26,7 +26,7 @@
    <arg name="rtabmapviz" default="true" /> 
    
    <!-- ODOMETRY MAIN ARGUMENTS: 
-        -"strategy"        : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
+        -"strategy"        : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
         -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
         -"nn"              : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
                              Set to 1 for float descriptor like SIFT/SURF                  
@@ -63,12 +63,12 @@
 	  <param name="depth_cameras"            type="int"    value="2"/>
 	  <param name="wait_for_transform"       type="bool"   value="$(arg wait_for_transform)"/>
 	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
-	  <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
-	  <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
-	  <param name="Odom/MaxDepth"            type="string" value="$(arg max_depth)"/>  
-	  <param name="Odom/MinInliers"          type="string" value="$(arg min_inliers)"/> 
-	  <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
-      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
+	  <param name="Vis/FeatureType"         type="string" value="$(arg feature)"/>  
+	  <param name="Vis/CorNNType"           type="string" value="$(arg nn)"/>
+	  <param name="Vis/MaxDepth"            type="string" value="$(arg max_depth)"/>  
+	  <param name="Vis/MinInliers"          type="string" value="$(arg min_inliers)"/> 
+	  <param name="Vis/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
+      <param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/> 
       <param name="Odom/FillInfoData"        type="string" value="$(arg odom_info_data)"/>   
     </node>
   
@@ -89,8 +89,8 @@
       <remap from="depth1/image"     to="/camera2/depth_registered/image_raw"/>
       <remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
 
-      <param name="LccBow/MinInliers"     type="string" value="10"/>
-      <param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
+      <param name="Vis/MinInliers"     type="string" value="10"/>
+      <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
     </node>
   
     <!-- Visualisation RTAB-Map -->