diff --git a/corelib/src/OdometryLocalMap.cpp b/corelib/src/OdometryLocalMap.cpp
index f632fe9b..1c2df0b9 100644
--- a/corelib/src/OdometryLocalMap.cpp
+++ b/corelib/src/OdometryLocalMap.cpp
@@ -232,7 +232,8 @@ Transform OdometryLocalMap::computeTransform(
 		if(localMap_.size() && newSignature)
 		{
 			Transform transform;
-			if((int)localMap_.size() >= regVis_->getMinInliers())
+			if((int)localMap_.size() >= regVis_->getMinInliers() &&
+			   (int)newSignature->getWords().size()>=regVis_->getMinInliers())
 			{
 				Transform t;
 				Signature tmpLocalMap(-1);
@@ -253,6 +254,10 @@ Transform OdometryLocalMap::computeTransform(
 					UWARN("Unknown registration error");
 				}
 			}
+			else if((int)newSignature->getWords().size()<regVis_->getMinInliers())
+			{
+				UWARN("New signature has too low extracted features (%d < %d)", (int)newSignature->getWords().size(), regVis_->getMinInliers());
+			}
 			else
 			{
 				UWARN("Local map too small!? (%d < %d)", (int)localMap_.size(), regVis_->getMinInliers());