diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index a26a58e3..ec9cc4a1 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -2815,7 +2815,10 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
 		NODELET_INFO("2D mapping = %s", twoDMapping_?"true":"false");
 	}
 	rtabmap_.parseParameters(parameters_);
-	mapsManager_.setParameters(parameters_);
+	// Don't reset map in localization mode
+	if(rtabmap_.getMemory()->isIncremental()) {
+		mapsManager_.setParameters(parameters_);
+	}
 	return true;
 }