diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 85f67616..11434206 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -855,6 +855,7 @@ int RTABMapApp::postProcessing(int approach)
 
 				rtabmap::ParametersMap param;
 				param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
+                param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
 				rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
 				poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
 				delete sba;
diff --git a/corelib/include/rtabmap/core/OptimizerG2O.h b/corelib/include/rtabmap/core/OptimizerG2O.h
index 5ed24b47..1fe6c949 100644
--- a/corelib/include/rtabmap/core/OptimizerG2O.h
+++ b/corelib/include/rtabmap/core/OptimizerG2O.h
@@ -50,7 +50,8 @@ public:
 	OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
 		Optimizer(parameters),
 		solver_(Parameters::defaultg2oSolver()),
-		optimizer_(Parameters::defaultg2oOptimizer())
+		optimizer_(Parameters::defaultg2oOptimizer()),
+        pixelVariance_(Parameters::defaultg2oPixelVariance())
 	{
 		parseParameters(parameters);
 	}