Hi Dejan Do you recommend any minimal size for the image DB? I am having trouble (actually runtime errors) while using the clustering mode. I will dig in the problem today but do you think there any chance this is linked to my image DB being too small (around 20 pictures)? In other words: is it just me? :) Finally, do you know a kind of automatized way to import the germandeli/ http://www.germandeli.com/ catalogue you advertise on the wiki? So far I've been manually saving the thumbnails from the website... Thanks for your help Raph -- View this message in context: http://ros-users.122217.n3.nabble.com/Object-recognition-positioning-package-tp2399294p2450387.html Sent from the ROS-Users mailing list archive at Nabble.com.