Dejan, thanks for this info. I am currently playing with it and what you say confirms my intuitions: setting correct K and L influences the detection quality. I will try to get a good feeling on it and come back to you if I can't figure out what parameters to use. Raph -- View this message in context: http://ros-users.122217.n3.nabble.com/Object-recognition-positioning-package-tp2399294p2452399.html Sent from the ROS-Users mailing list archive at Nabble.com.