diff --git a/launch/azimut3/az3_nav.launch b/launch/azimut3/az3_nav.launch
index 4628686a..e6599004 100644
--- a/launch/azimut3/az3_nav.launch
+++ b/launch/azimut3/az3_nav.launch
@@ -46,7 +46,7 @@
 	  
       <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
       <param name="Mem/NotLinkedNodesKept"  type="string" value="false"/>
-      <param name="Mem/ImageDecimation"     type="string" value="4"/>
+      <param name="Mem/ImagePostDecimation"     type="string" value="4"/>
       
       <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="false"/>
       <param name="Rtabmap/TimeThr"                  type="string" value="600"/>
@@ -56,7 +56,7 @@
 
       <param name="Optimizer/Slam2D"          type="string" value="true"/>
       <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
-      <param name="Optimizer/Strategy"        type="string" value="1"/>      
+      <param name="Optimizer/Strategy"        type="string" value="0"/>      
  
       <param name="Kp/DetectorStrategy"   type="string" value="0"/>
       <param name="Kp/MaxFeatures"        type="string" value="200"/>
@@ -65,6 +65,7 @@
       <param name="Reg/Force3DoF"  type="string" value="true"/>
       <param name="Vis/MaxDepth"   type="string" value="5"/>
       <param name="Vis/MinInliers" type="string" value="5"/>
+      <param name="Icp/CorrespondenceRatio" type="string" value="0.3"/>      
 
       <!-- localization mode -->
       <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>