diff --git a/launch/tests/rgbdslam_datasets.launch b/launch/tests/rgbdslam_datasets.launch
index 3b9deea0..d13f9dc5 100644
--- a/launch/tests/rgbdslam_datasets.launch
+++ b/launch/tests/rgbdslam_datasets.launch
@@ -29,21 +29,21 @@
       <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
       <remap from="odom" to="vis_odom"/>
 	  
-	  <param name="Odom/Strategy" type="string" value="0"/>      <!-- 0=Local Map, 1 = Frame-to-frame -->
+	  <param name="Odom/Strategy" type="string" value="0"/>      <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
 	  <param name="Vis/CorType" type="string" value="0"/>        <!-- 0=features matching 1=Optical Flow -->
-	  <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
+	  <param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
       <param name="Vis/UseDepthAsMask" type="string" value="true"/>
       <param name="Vis/MaxDepth" type="string" value="4"/>
-      <param name="OdomF2F/KeyFrameThr" type="string" value="300"/>
-      
-      
+      <param name="Vis/PnPRefineIterations" type="string" value="0"/>      
+      <param name="Odom/ResetCountdown" type="string" value="15"/>      
+
       <param name="odom_frame_id" type="string" value="vis_odom"/>
       <param name="frame_id" type="string" value="kinect"/>
       <param name="publish_tf" type="bool" value="false"/>
       <param name="queue_size" type="int" value="30"/>
       <param name="wait_for_transform" type="bool" value="true"/>
-      <param name="ground_truth_frame_id" type="string" value="world"/>
+      <param name="ground_truth_frame_id" type="string" value="world"/> 
     </node>
     <!-- rename the child frame of odometry -->
     <node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
@@ -56,8 +56,17 @@
       <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="false"/>
       
+      <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
+      <param name="Vis/EstimationType" type="string" value="1"/>
+      <param name="Vis/MaxDepth" type="string" value="4"/>
+      <param name="Vis/PnPRefineIterations" type="string" value="0"/>
+      <param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
+      <param name="Mem/RawDescriptorsKept" type="string" value="true"/>
+      <param name="Kp/DetectorStrategy" type="string" value="6"/>
+      <param name="Mem/UseDepthAsMask" type="string" value="true"/>
+
       <param name="frame_id" type="string" value="kinect"/>
-      <param name="ground_truth_frame_id" type="string" value="world"/>
+      <param name="ground_truth_frame_id" type="string" value="world"/> 
 	
       <remap from="rgb/image" to="/camera/rgb/image_color"/>
       <remap from="depth/image" to="/camera/depth/image"/>