diff --git a/rtabmap/launch/config/appearance_gui.ini b/rtabmap/launch/config/appearance_gui.ini
index 332be1de..e0ecf09c 100644
--- a/rtabmap/launch/config/appearance_gui.ini
+++ b/rtabmap/launch/config/appearance_gui.ini
@@ -13,8 +13,8 @@ General\beep=false
 General\keypointsOpacity=16
 General\voxelSize=0
 General\decimation=16
-MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3k\0\0\x1\xf4\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x6 \0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x6 \0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x5\t\0\0\x1\xf4\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0\x63\0\0\x6Y\0\0\x3Z\0\0\0\x32\0\0\0\x7f\0\0\x6Q\0\0\x3R\0\0\0\0\0\0)
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x2\xaf\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x1\xf0\xfc\x2\0\0\0\x3\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0(\0\0\x1\xf0\0\0\0y\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0O\0\xff\xff\xff\0\0\0\0\0\0\x1\xf0\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xbd\0\0\0x\0\0\x5\xcc\0\0\x3k\0\0\0\xc5\0\0\0\x94\0\0\x5\xc4\0\0\x3\x63\0\0\0\0\0\0)
 General\showClouds0=true
 General\voxelSize0=0
 General\decimation0=4
@@ -39,3 +39,6 @@ General\decimation2=1
 General\maxDepth2=4
 General\showScans2=true
 General\meshing0=false
+General\cloudFiltering=false
+General\cloudFilteringRadius=0.5
+General\cloudFilteringAngle=30
diff --git a/rtabmap/launch/config/rgbd.rviz b/rtabmap/launch/config/rgbd.rviz
index fe03ddcb..c6f331fe 100644
--- a/rtabmap/launch/config/rgbd.rviz
+++ b/rtabmap/launch/config/rgbd.rviz
@@ -5,19 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Grid1
-        - /PointCloud21
         - /TF1/Frames1
-        - /Marker1/Namespaces1
-        - /Odometry1
-        - /PointCloud22
-        - /PointCloud23
-        - /Odometry2
-        - /LaserScan1
-        - /Map1
-        - /Map1/Status1
       Splitter Ratio: 0.5
-    Tree Height: 581
+    Tree Height: 518
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -35,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -91,139 +81,15 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
-        L_forearm_link:
-          Value: true
-        L_frame_tool_link:
-          Value: true
-        L_gripper_up_link:
-          Value: true
-        L_shoulder_fixed_link:
-          Value: true
-        L_shoulder_pan_link:
-          Value: true
-        L_shoulder_tilt_link:
-          Value: true
-        L_upper_arm_link:
-          Value: true
-        R_forearm_link:
-          Value: true
-        R_frame_tool_link:
-          Value: true
-        R_gripper_up_link:
-          Value: true
-        R_shoulder_fixed_link:
-          Value: true
-        R_shoulder_pan_link:
-          Value: true
-        R_shoulder_tilt_link:
-          Value: true
-        R_upper_arm_link:
-          Value: true
-        base_footprint:
-          Value: true
-        base_laser_link:
-          Value: true
-        base_link:
-          Value: true
-        head_l_eye_eyebrow_link:
-          Value: true
-        head_l_eye_link:
-          Value: true
-        head_l_eye_pupil_link:
-          Value: true
-        head_link:
-          Value: true
-        head_r_eye_eyebrow_link:
-          Value: true
-        head_r_eye_link:
-          Value: true
-        head_r_eye_pupil_link:
-          Value: true
-        map:
-          Value: true
-        neck_bracket_link:
-          Value: true
-        neck_pan_link:
-          Value: true
-        neck_tilt_link:
-          Value: true
-        neck_top_frame:
-          Value: true
-        odom:
-          Value: true
-        openni_base_link:
-          Value: true
-        openni_camera_link:
-          Value: true
-        openni_depth_frame:
-          Value: true
-        openni_depth_optical_frame:
-          Value: true
-        openni_rgb_frame:
-          Value: true
-        openni_rgb_optical_frame:
-          Value: true
-        torso_imu_link:
-          Value: true
-        torso_link:
-          Value: true
-        torso_stand_link:
-          Value: true
-        torso_top_frame:
-          Value: true
-        wheelLB_linkWheel_link:
-          Value: true
-        wheelLB_wheel_link:
-          Value: true
-        wheelLF_linkWheel_link:
-          Value: true
-        wheelLF_wheel_link:
-          Value: true
-        wheelRB_linkWheel_link:
-          Value: true
-        wheelRB_wheel_link:
-          Value: true
-        wheelRF_linkWheel_link:
-          Value: true
-        wheelRF_wheel_link:
-          Value: true
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        map:
-          odom:
-            {}
+        {}
       Update Interval: 0
       Value: true
-    - Class: rviz/Marker
-      Enabled: true
-      Marker Topic: visualization_marker
-      Name: Marker
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-    - Class: rviz/Marker
-      Enabled: true
-      Marker Topic: /visualization_marker_wheels
-      Name: Marker
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-    - Angle Tolerance: 0
-      Class: rviz/Odometry
-      Color: 255; 25; 0
-      Enabled: true
-      Keep: 1
-      Length: 1
-      Name: Odometry
-      Position Tolerance: 0
-      Topic: /odom
-      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -256,76 +122,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 4.00237
-        Min Value: 0.462084
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Points
-      Topic: /assembled_scans
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 2.1283
-        Min Value: -0.00552607
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: AxisColor
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.01
-      Style: Flat Squares
-      Topic: /cloud2
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-    - Angle Tolerance: 0.01
-      Class: rviz/Odometry
-      Color: 255; 25; 0
-      Enabled: true
-      Keep: 1
-      Length: 1
-      Name: Odometry
-      Position Tolerance: 0.01
-      Topic: /odom_slam
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 1.97636
-        Min Value: -11.138
+        Max Value: 9.61762
+        Min Value: -10.4251
         Value: true
       Axis: X
       Channel Name: intensity
@@ -378,14 +176,14 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 16.0582
+      Distance: 6.3839
       Focal Point:
-        X: -0.102899
-        Y: 0.0127649
-        Z: 0.650117
+        X: 1.21633
+        Y: 0.709636
+        Z: -0.00735356
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.6598
+      Pitch: 0.5598
       Target Frame: base_link
       Value: Orbit (rviz)
       Yaw: 3.58419
@@ -393,10 +191,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 754
+  Height: 691
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000013600000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003bd0000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -405,6 +203,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1174
-  X: 42
-  Y: 88
+  Width: 1273
+  X: 212
+  Y: 201
diff --git a/rtabmap/launch/config/rgbd_gui.ini b/rtabmap/launch/config/rgbd_gui.ini
index 8d0d9266..565b7f11 100644
--- a/rtabmap/launch/config/rgbd_gui.ini
+++ b/rtabmap/launch/config/rgbd_gui.ini
@@ -13,8 +13,8 @@ General\beep=false
 General\keypointsOpacity=16
 General\voxelSize=0
 General\decimation=16
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+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\xae\0\0\0\xe5\0\0\x5\xbd\0\0\x3\xd8\0\0\0\xb6\0\0\x1\x1\0\0\x5\xb5\0\0\x3\xd0\0\0\0\0\0\0)
 General\showClouds0=true
 General\voxelSize0=0
 General\decimation0=4
diff --git a/rtabmap/launch/demo/demo_appearance_localization.launch b/rtabmap/launch/demo/demo_appearance_localization.launch
index aa9b6549..2d052032 100644
--- a/rtabmap/launch/demo/demo_appearance_localization.launch
+++ b/rtabmap/launch/demo/demo_appearance_localization.launch
@@ -16,7 +16,7 @@
 	    <param name="RGBD/Enabled" type="string" value="false"/>          <!-- False: appearance-based -->
 	    <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
 		<param name="Rtabmap/ImageBufferSize" type="string" value="0"/>   <!-- process all images -->
-		<param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do fast detection on localization -->
+		<param name="Rtabmap/DetectionRate" type="string" value="0"/>     <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
 		<param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
 		<param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
 		<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>