diff --git a/corelib/src/BayesFilter.cpp b/corelib/src/BayesFilter.cpp
index 56e9485b..e80f142f 100644
--- a/corelib/src/BayesFilter.cpp
+++ b/corelib/src/BayesFilter.cpp
@@ -38,7 +38,6 @@ namespace rtabmap {
 BayesFilter::BayesFilter(const ParametersMap & parameters) :
 	_virtualPlacePrior(Parameters::defaultBayesVirtualPlacePriorThr()),
 	_fullPredictionUpdate(Parameters::defaultBayesFullPredictionUpdate()),
-	_badSignaturesIgnored(Parameters::defaultRtabmapCreateIntermediateNodes()),
 	_totalPredictionLCValues(0.0f)
 {
 	this->setPredictionLC(Parameters::defaultBayesPredictionLC());
@@ -57,7 +56,6 @@ void BayesFilter::parseParameters(const ParametersMap & parameters)
 	}
 	Parameters::parse(parameters, Parameters::kBayesVirtualPlacePriorThr(), _virtualPlacePrior);
 	Parameters::parse(parameters, Parameters::kBayesFullPredictionUpdate(), _fullPredictionUpdate);
-	Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), _badSignaturesIgnored);
 
 	UASSERT(_virtualPlacePrior >= 0 && _virtualPlacePrior <= 1.0f);
 }
@@ -262,7 +260,7 @@ cv::Mat BayesFilter::generatePrediction(const Memory * memory, const std::vector
 				// Set high values (gaussians curves) to loop closure neighbors
 
 				// ADD prob for each neighbors
-				std::map<int, int> neighbors = memory->getNeighborsId(ids[i], _predictionLC.size()-1, 0, false, false, _badSignaturesIgnored);
+				std::map<int, int> neighbors = memory->getNeighborsId(ids[i], _predictionLC.size()-1, 0, false, false, true);
 				std::list<int> idsLoopMargin;
 				//filter neighbors in STM
 				for(std::map<int, int>::iterator iter=neighbors.begin(); iter!=neighbors.end();)
@@ -476,7 +474,7 @@ cv::Mat BayesFilter::updatePrediction(const cv::Mat & oldPrediction,
 		}
 		if(i<newIds.size() && !uContains(oldIdToIndexMap,newIds[i]))
 		{
-			std::map<int, int> neighbors = memory->getNeighborsId(newIds[i], _predictionLC.size()-1, 0, false, false, _badSignaturesIgnored);
+			std::map<int, int> neighbors = memory->getNeighborsId(newIds[i], _predictionLC.size()-1, 0, false, false, true);
 			float sum = this->addNeighborProb(prediction, i, neighbors, newIdToIndexMap);
 			this->normalize(prediction, i, sum, newIds[0]<0);
 			++added;
@@ -496,7 +494,7 @@ cv::Mat BayesFilter::updatePrediction(const cv::Mat & oldPrediction,
 	int modified = 0;
 	for(std::set<int>::iterator iter = idsToUpdate.begin(); iter!=idsToUpdate.end(); ++iter)
 	{
-		std::map<int, int> neighbors = memory->getNeighborsId(*iter, _predictionLC.size()-1, 0, false, false, _badSignaturesIgnored);
+		std::map<int, int> neighbors = memory->getNeighborsId(*iter, _predictionLC.size()-1, 0, false, false, true);
 		int index = newIdToIndexMap.at(*iter);
 		float sum = this->addNeighborProb(prediction, index, neighbors, newIdToIndexMap);
 		this->normalize(prediction, index, sum, newIds[0]<0);
diff --git a/corelib/src/BayesFilter.h b/corelib/src/BayesFilter.h
index 4d00cd76..24d85a88 100644
--- a/corelib/src/BayesFilter.h
+++ b/corelib/src/BayesFilter.h
@@ -58,7 +58,6 @@ public:
 	float getVirtualPlacePrior() const {return _virtualPlacePrior;}
 	const std::vector<double> & getPredictionLC() const; // {Vp, Lc, l1, l2, l3, l4...}
 	std::string getPredictionLCStr() const; // for convenience {Vp, Lc, l1, l2, l3, l4...}
-	bool isBadSignaturesIgnored() const {return _badSignaturesIgnored;}
 
 	cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids) const;
 
@@ -80,7 +79,6 @@ private:
 	float _virtualPlacePrior;
 	std::vector<double> _predictionLC; // {Vp, Lc, l1, l2, l3, l4...}
 	bool _fullPredictionUpdate;
-	bool _badSignaturesIgnored;
 	float _totalPredictionLCValues;
 };
 
diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 9b3cda7d..fbab3e72 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -1116,7 +1116,6 @@ bool Rtabmap::process(
 			//============================================================
 			ULOGGER_INFO("computing likelihood...");
 
-			// select only not empty signatures (may happen often if intermediate nodes are created)
 			std::list<int> signaturesToCompare;
 			for(std::map<int, double>::const_iterator iter=_memory->getWorkingMem().begin();
 				iter!=_memory->getWorkingMem().end();
@@ -1126,7 +1125,7 @@ bool Rtabmap::process(
 				{
 					const Signature * s = _memory->getSignature(iter->first);
 					UASSERT(s!=0);
-					if(!_bayesFilter->isBadSignaturesIgnored() || !s->isBadSignature())
+					if(s->getWeight() != -1) // ignore intermediate nodes
 					{
 						signaturesToCompare.push_back(iter->first);
 					}
@@ -2780,7 +2779,7 @@ void Rtabmap::dumpPrediction() const
 			{
 				const Signature * s = _memory->getSignature(iter->first);
 				UASSERT(s!=0);
-				if(!_bayesFilter->isBadSignaturesIgnored() || !s->isBadSignature())
+				if(s->getWeight() != -1) // ignore intermediate nodes
 				{
 					signaturesToCompare.push_back(iter->first);
 				}