diff --git a/guilib/src/DetailedProgressDialog.cpp b/guilib/src/DetailedProgressDialog.cpp
index 5aa98da5..454cf9c1 100644
--- a/guilib/src/DetailedProgressDialog.cpp
+++ b/guilib/src/DetailedProgressDialog.cpp
@@ -42,8 +42,7 @@ namespace rtabmap {
 
 DetailedProgressDialog::DetailedProgressDialog(QWidget *parent, Qt::WindowFlags flags) :
 		QDialog(parent, flags),
-		_autoClose(false),
-		_delayedClosingTime(0)
+		_delayedClosingTime(1)
 {
 	_text = new QLabel(this);
 	_text->setWordWrap(true);
@@ -55,7 +54,7 @@ DetailedProgressDialog::DetailedProgressDialog(QWidget *parent, Qt::WindowFlags
 	_closeButton = new QPushButton(this);
 	_closeButton->setText("Close");
 	_closeWhenDoneCheckBox = new QCheckBox(this);
-	_closeWhenDoneCheckBox->setChecked(false);
+	_closeWhenDoneCheckBox->setChecked(true);
 	_closeWhenDoneCheckBox->setText("Close when done.");
 	_endMessage = "Finished!";
 	this->clear();
@@ -90,6 +89,7 @@ void DetailedProgressDialog::appendText(const QString & text, const QColor & col
 	_detailedText->append(html);
 	_detailedText->ensureCursorVisible();
 	_detailedText->horizontalScrollBar()->setSliderPosition(0);
+	_detailedText->verticalScrollBar()->setSliderPosition(_detailedText->verticalScrollBar()->maximum());
 }
 void DetailedProgressDialog::setValue(int value)
 {
@@ -146,6 +146,7 @@ void DetailedProgressDialog::closeEvent(QCloseEvent *event)
 	if(_progressBar->value() == _progressBar->maximum())
 	{
 		event->accept();
+		_closeWhenDoneCheckBox->setChecked(true);
 	}
 	else
 	{
diff --git a/guilib/src/DetailedProgressDialog.h b/guilib/src/DetailedProgressDialog.h
index 870a5df9..f7fb79f7 100644
--- a/guilib/src/DetailedProgressDialog.h
+++ b/guilib/src/DetailedProgressDialog.h
@@ -68,7 +68,6 @@ private:
 	QPushButton * _closeButton;
 	QCheckBox * _closeWhenDoneCheckBox;
 	QString _endMessage;
-	bool _autoClose;
 	int _delayedClosingTime; // sec
 };
 
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 49130431..27675fc4 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -1913,7 +1913,6 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 {
 	if((RtabmapEventInit::Status)status == RtabmapEventInit::kInitializing)
 	{
-		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
 		this->changeState(MainWindow::kInitializing);
@@ -1925,7 +1924,6 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 	}
 	else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosing)
 	{
-		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
 		if(_state!=kApplicationClosing)
@@ -2061,7 +2059,8 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 			++iter)
 		{
 			mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
-			if(!_cachedSignatures.contains(iter->first))
+			if(!_cachedSignatures.contains(iter->first) ||
+			   (_cachedSignatures.value(iter->first).sensorData().imageCompressed().empty() && !iter->second.sensorData().imageCompressed().empty()))
 			{
 				_cachedSignatures.insert(iter->first, iter->second);
 				++addedSignatures;
@@ -3853,7 +3852,7 @@ void MainWindow::downloadAllClouds()
 	items.append("Global map not optimized");
 
 	bool ok;
-	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 2, false, &ok);
+	QString item = QInputDialog::getItem(this, tr("Download map"), tr("Options:"), items, 2, false, &ok);
 	if(ok)
 	{
 		bool optimized=false, global=false;
@@ -3880,7 +3879,6 @@ void MainWindow::downloadAllClouds()
 		}
 
 		UINFO("Download clouds...");
-		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
 		_initProgressDialog->appendText(tr("Downloading the map (global=%1 ,optimized=%2)...")
@@ -3905,7 +3903,7 @@ void MainWindow::downloadPoseGraph()
 	items.append("Global map not optimized");
 
 	bool ok;
-	QString item = QInputDialog::getItem(this, tr("Parameters"), tr("Options:"), items, 2, false, &ok);
+	QString item = QInputDialog::getItem(this, tr("Download graph"), tr("Options:"), items, 2, false, &ok);
 	if(ok)
 	{
 		bool optimized=false, global=false;
@@ -3932,7 +3930,6 @@ void MainWindow::downloadPoseGraph()
 		}
 
 		UINFO("Download the graph...");
-		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
 		_initProgressDialog->appendText(tr("Downloading the graph (global=%1 ,optimized=%2)...")
@@ -4341,7 +4338,6 @@ bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::
 	pcl::PointCloud<pcl::PointXYZ>::Ptr assembledScans(new pcl::PointCloud<pcl::PointXYZ>());
 	std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
 
-	_initProgressDialog->setAutoClose(true, 1);
 	_initProgressDialog->resetProgress();
 	_initProgressDialog->show();
 	_initProgressDialog->setMaximumSteps(int(poses.size())*(assemble?1:2)+1);
@@ -4508,7 +4504,6 @@ bool MainWindow::getExportedClouds(
 	{
 		std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
 
-		_initProgressDialog->setAutoClose(true, 1);
 		_initProgressDialog->resetProgress();
 		_initProgressDialog->show();
 		int mul = _exportDialog->getMesh()&&!_exportDialog->getGenerate()?3:_exportDialog->getMLS()&&!_exportDialog->getGenerate()?2:1;