diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index a23358dd..7dd3005b 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -56,7 +56,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
  * 				DummyVideoImageWidth() {parameters_.insert(ParametersPair("Video/ImageWidth", "640"));}
  * 			};
  * 			DummyVideoImageWidth dummyVideoImageWidth;
- * @endcode
+ * @endcode
  */
 #define RTABMAP_PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
 	public: \
@@ -156,7 +156,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
  * 		std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"
  * @endcode
  * @see getDefaultParameters()
- * TODO Add a detailed example with simple classes
+ * TODO Add a detailed example with simple classes
  */
 class RTABMAP_EXP Parameters
 {
@@ -248,7 +248,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(FAST, Gpu,                bool, false, 	"GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
 	RTABMAP_PARAM(FAST, GpuKeypointsRatio,  double, 0.05, 	"Used with FAST GPU.");
 
-	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.01, "");
+	RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
 	RTABMAP_PARAM(GFTT, MinDistance, double, 5, "");
 	RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
 	RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");