diff --git a/GPU_version/vio/include/vio/depth_filter.h b/GPU_version/vio/include/vio/depth_filter.h
index df42bfa..8c9eee2 100644
--- a/GPU_version/vio/include/vio/depth_filter.h
+++ b/GPU_version/vio/include/vio/depth_filter.h
@@ -150,7 +150,7 @@ protected:
   double new_keyframe_min_depth_;       //!< Minimum depth in the new keyframe. Used for range in new seeds.
   double new_keyframe_mean_depth_;      //!< Maximum depth in the new keyframe. Used for range in new seeds.
   Matcher matcher_;
-  uint seeds_cont_=0;
+  //uint seeds_cont_=0;
 
   /// Initialize new seeds from a frame.
   void initializeSeeds(FramePtr frame);
diff --git a/GPU_version/vio/include/vio/matcher.h b/GPU_version/vio/include/vio/matcher.h
index c7c1c6e..0a79204 100644
--- a/GPU_version/vio/include/vio/matcher.h
+++ b/GPU_version/vio/include/vio/matcher.h
@@ -87,7 +87,7 @@ public:
       max_epi_search_steps(1000),
       subpix_refinement(true),
       epi_search_edgelet_filtering(true),
-      epi_search_edgelet_max_angle(0.7)
+      epi_search_edgelet_max_angle(0.3)
     {}
   } options_;
 
diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h
index 066e25c..8f5f49c 100644
--- a/GPU_version/vio/include/vio/ukf.h
+++ b/GPU_version/vio/include/vio/ukf.h
@@ -17,59 +17,62 @@ public:
     };
     virtual ~Base(){
     };
-    void predict(double dx,double dz,double dpitch,double time){
-        if(t_==0.0){
-            t_=time;
+    void predict(double dx,double dy,double dpitch,double time){
+        double dt=time-t_cmd;
+        if(t_cmd==0.0){
+            t_cmd=time;
             return;
         }
-        double dt=time-t_;
-        t_=time;
+        t_cmd=time;
         state_h_(2)=state_(2)+dt*dpitch;
-        state_h_(1)=state_(1)+dz*cos(state_(2))-dx*sin(state_(2));
-        state_h_(0)=state_(0)+dx*cos(state_(2))+dz*sin(state_(2));
+        state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2)));
+        state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2)));
         Eigen::Matrix<double,3,3> R;
         R<<vio::Config::Cmd_Cov(),0,0,
            0,vio::Config::Cmd_Cov(),0,
            0,0,vio::Config::Cmd_Cov();
         Eigen::Matrix<double,3,3> G;
-        G<<1.0,0,-dx*sin(state_(2))+dz*cos(state_(2)),
-           0,1.0,-dz*sin(state_(2))-dx*cos(state_(2)),
+        G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),
+           0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),
            0,0,1.0;
         cov_h_=G*cov_*G.transpose()+R;
         predict_up=true;
     }
-    void correct(double ddx, double ddz, double dpitch, double time){
+    void correct(double ddx, double ddy, double dpitch, double time){
+        double dt=time-t_imu;
+        if(t_imu==0.0){
+            t_imu=time;
+            return;
+        }
+        t_imu=time;
         Eigen::Matrix<double,3,3> H;
         Eigen::Matrix<double,3,3> Q;
         Eigen::Matrix<double,3,1> E;
         Eigen::Matrix<double,3,3> k;
-        double dt=time-t_;
-        t_=time;
-        H<<1.0,0,0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2))),
-           0,1.0,-0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2))),
+        H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),
+           0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),
            0,0,1.0;
         Q<<vio::Config::ACC_Noise(),0,0,
            0,vio::Config::ACC_Noise(),0,
            0,0,vio::Config::GYO_Noise();
-        E(0)=state_(0)+0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2)))-state_h_(0);
-        E(1)=state_(1)+0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1);
+        E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0);
+        E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1);
         E(2)=state_(2)+dt*dpitch-state_h_(2);
         k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse();
         state_=state_h_+k*E;
         cov_=(Eigen::MatrixXd::Identity(3,3)-k*H)*cov_h_;
         state_h_(2)=state_(2)+dt*dpitch;
-        state_h_(1)=state_(1)+0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2)));
-        state_h_(0)=state_(0)+0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2)));
+        state_h_(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)));
+        state_h_(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)));
         Eigen::Matrix<double,3,3> R;
         R<<vio::Config::ACC_Noise(),0,0,
                 0,vio::Config::ACC_Noise(),0,
                 0,0,vio::Config::GYO_Noise();
         Eigen::Matrix<double,3,3> G;
-        G<<1.0,0,0.5*pow(dt,2)*(ddz*cos(state_(2))-ddx*sin(state_(2))),
-                0,1.0,-0.5*pow(dt,2)*(ddx*cos(state_(2))+ddz*sin(state_(2))),
+        G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),
+                0,1.0,-pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),
                 0,0,1.0;
         cov_h_=G*cov_*G.transpose()+R;
-        yaw_t_1_=state_(2);
 
     }
     void correct(double x, double z,double pitch,size_t match,double time){
@@ -77,7 +80,6 @@ public:
         Eigen::Matrix<double,3,3> Q;
         Eigen::Matrix<double,3,1> E;
         Eigen::Matrix<double,3,3> k;
-        t_=time;
         ++match;
         H<<1.0,0,0,
            0,1.0,0,
@@ -89,17 +91,16 @@ public:
         k=cov_h_*H.transpose()*(H*cov_h_*H.transpose()+Q).inverse();
         state_=state_h_+(k*E);
         cov_=(Eigen::MatrixXd::Identity(3,3)-k*H)*cov_h_;
-        yaw_t_1_=state_(2);
         predict_up=false;
     }
     Eigen::Matrix<double,3,3> cov_;
     Eigen::Matrix<double, 3, 1> state_;
     bool predict_up=false;
 private:
-    double t_=0.0;
+    double t_cmd=0.0;
     Eigen::Matrix<double,3,3> cov_h_;
-    Eigen::Matrix<double, 3, 1> state_h_;//state{x,z,pitch}
-    double yaw_t_1_=0.0;
+    Eigen::Matrix<double, 3, 1> state_h_;//state{x,y,pitch( rotation aound z)} in world frame
+    double t_imu=0.0;
 
 };
 
@@ -110,34 +111,34 @@ public:
     virtual ~UKF() {
         delete filter_;
     };
-    void UpdateIMU(double x,double z,double pitch,const ros::Time& time) {
+    void UpdateIMU(double x/*in imu frame*/,double y/*in imu frame*/,double pitch/*in imu frame*/,const ros::Time& time) {
         while(lock)usleep(5);
         lock=true;
         if(abs(x)<1.0)x=pow(x,3);//picked up from your code
-        if(abs(z)<1.0)z=pow(z,3);//picked up from your code
-        if(filter_->predict_up)filter_->correct(x,z,pitch,1e-9*time.toNSec());
+        if(abs(y)<1.0)y=pow(y,3);//picked up from your code
+        if(filter_->predict_up)filter_->correct(x,y,pitch,1e-9*time.toNSec());
         lock=false;
     };
-    void UpdateCmd(double x,double z,double pitch,const ros::Time& time) {
+    void UpdateCmd(double x/*in imu frame*/,double y/*in imu frame*/,double pitch/*in imu frame*/,const ros::Time& time) {
         while(lock)usleep(5);
         lock=true;
-        filter_->predict(x,z,pitch,1e-9*time.toNSec());
+        filter_->predict(x,y,pitch,1e-9*time.toNSec());
         lock=false;
     };
-    std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> UpdateSvo(double x,double z,double pitch,size_t match,ros::Time& time) {
+    std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> UpdateSvo(double y/*in camera frame*/,double z/*in camera frame*/,double roll/*in camera frame*/,size_t match,ros::Time& time) {
         while(lock)usleep(5);
         lock=true;
-        pitch=pitch+M_PI;
-        if(filter_->predict_up)filter_->correct(-x,-z,pitch,match,1e-9*time.toNSec());
+        roll=roll+M_PI;
+        if(filter_->predict_up)filter_->correct(-z,-y,roll,match,1e-9*time.toNSec());
         lock=false;
-        double pitch_f;
-        pitch_f=filter_->state_(2)+M_PI;
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f));
+        double roll_f;
+        roll_f=filter_->state_(2)+M_PI;
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(-filter_->state_(1),-filter_->state_(0),roll_f));
     };
     std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5> get_location(){
         double pitch_f;
         pitch_f=filter_->state_(2)+M_PI;
-        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(-filter_->state_(0),-filter_->state_(1),pitch_f));
+        return std::pair<Eigen::Matrix<double,3,3>,vio::SE2_5>(filter_->cov_,vio::SE2_5(-filter_->state_(1),-filter_->state_(0),pitch_f));
     }
 private:
      Base* filter_= nullptr;
diff --git a/GPU_version/vio/out.txt b/GPU_version/vio/out.txt
index ab3b540..72bd21a 100644
Binary files a/GPU_version/vio/out.txt and b/GPU_version/vio/out.txt differ
diff --git a/GPU_version/vio/param/px30.yaml b/GPU_version/vio/param/px30.yaml
index 4b69c4f..a9bfd59 100644
--- a/GPU_version/vio/param/px30.yaml
+++ b/GPU_version/vio/param/px30.yaml
@@ -2,8 +2,8 @@ vio:
     cam_model: ATAN
     cam_width: 640
     cam_height: 480
-    cam_fx: 0.463632
-    cam_fy: 0.823661
-    cam_cx: 0.497465
-    cam_cy: 0.498443
-    cam_d0: 1.01687
+    cam_fx: 0.490202
+    cam_fy: 0.866527
+    cam_cx: 0.485102
+    cam_cy: 0.508577
+    cam_d0: 1.03345
diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml
index 69954f4..b1937eb 100644
--- a/GPU_version/vio/param/vo_fast.yaml
+++ b/GPU_version/vio/param/vo_fast.yaml
@@ -5,12 +5,12 @@ svo:
   quality_min_fts: 10      #If the number of tracked features drops below this threshold. Tracking quality is bad.
   quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
   init_min_tracked: 100
-  init_min_disparity: 60
+  init_min_disparity: 80
   structureoptim_max_pts: 50
   kfselect_mindist: 0.01
   poseoptim_thresh: 4.0
-  init_min_inliers: 30
+  init_min_inliers: 40
   ACC_noise: 0.5          #acc white noise in continuous in EKF
   GYO_noise: 0.001          #gyro white noise in continuous in EKF
   svo_ekf: 1.5                #Svo noise that will be devided by number of Reprojected points after opmization in EKF
-  Cmd_Cov: 1.0  #control vector noise in EKF
+  Cmd_Cov: 0.1  #control vector noise in EKF
diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp
index 0b9b9f7..3816fd8 100644
--- a/GPU_version/vio/src/matcher.cpp
+++ b/GPU_version/vio/src/matcher.cpp
@@ -249,7 +249,7 @@ bool Matcher::findEpipolarMatchDirect(
     return false;
   }
 
-  size_t n_steps = epi_length_/0.7; // one step per pixel
+  size_t n_steps = epi_length_/0.3; // one step per pixel
   Vector2d step = epi_dir_/n_steps;
 
   if(n_steps > options_.max_epi_search_steps)
diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp
index a64adf5..1ce97e2 100644
--- a/GPU_version/vio/src/sparse_img_align_gpu.cpp
+++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp
@@ -129,6 +129,8 @@ int SparseImgAlignGpu::solve()
     x_ = Eigen::Matrix<double,3,3>(Hd).ldlt().solve(Eigen::Vector3d(Jd[0],Jd[1],Jd[2]));
     if((bool) std::isnan((double) x_[0]) || (bool) std::isnan((double) x_[1]) ||(bool) std::isnan((double) x_[2]))
         return 0;
+    double norm=x_.norm();
+    if(norm<=0 ||norm > 1.0)x_=Eigen::Vector3d(0.1,0.1,0.1);
     return 1;
 }
 void SparseImgAlignGpu::update()
diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp
index 0145baa..e04a74c 100644
--- a/GPU_version/vio/src/visualizer.cpp
+++ b/GPU_version/vio/src/visualizer.cpp
@@ -55,8 +55,8 @@ void Visualizer::publishMinimal(
     Quaterniond q(AngleAxisd(odom.second.pitch(), Vector3d::UnitZ()));
     geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped);
       msg_pose_with_cov->header = header_msg;
-      msg_pose_with_cov->pose.pose.position.x = odom.second.se2().translation()(1);
-      msg_pose_with_cov->pose.pose.position.y = odom.second.se2().translation()(0);
+      msg_pose_with_cov->pose.pose.position.x = odom.second.se2().translation()(0);
+      msg_pose_with_cov->pose.pose.position.y = odom.second.se2().translation()(1);
       msg_pose_with_cov->pose.pose.position.z = 0.0;
       msg_pose_with_cov->pose.pose.orientation.x = q.x();
       msg_pose_with_cov->pose.pose.orientation.y = q.y();
@@ -71,7 +71,7 @@ void Visualizer::publishMinimal(
     pub_pose_with_cov_.publish(msg_pose_with_cov);
     if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){
           publishPointMarker(
-                  pub_points_, Eigen::Vector3d(odom.second.se2().translation()(1),odom.second.se2().translation()(0),0.0), "trajectory",
+                  pub_points_, Eigen::Vector3d(odom.second.se2().translation()(0),odom.second.se2().translation()(1),0.0), "trajectory",
                   ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5));
     }
   }
diff --git a/GPU_version/vio/src/vo_node.cpp b/GPU_version/vio/src/vo_node.cpp
index ef818eb..7f0bbd4 100644
--- a/GPU_version/vio/src/vo_node.cpp
+++ b/GPU_version/vio/src/vo_node.cpp
@@ -154,7 +154,7 @@ void VioNode::imuCb(const sensor_msgs::ImuPtr &imu) {
     };
     imu_in[0] = 0.5*imu_[0]+0.5*imu->linear_acceleration.x;
     imu_in[1] = 0.5*imu_[1]+0.5*imu->linear_acceleration.y;
-    imu_in[2] = 0.5*imu_[2]+0.5*imu->angular_velocity.z;
+    imu_in[2] = imu->angular_velocity.z;
     memcpy(imu_, imu_in, static_cast<std::size_t>(3*sizeof(double)));
     vo_->UpdateIMU(imu_in,imu->header.stamp);
     imu_time_=imu->header.stamp;
@@ -184,8 +184,8 @@ bool VioNode::getOdom(vio::getOdom::Request &req, vio::getOdom::Response &res) {
         res.header.frame_id = "/world";
         res.header.seq = trace_id_;
         auto odom=vo_->ukfPtr_.get_location();
-        res.x=odom.second.se2().translation()(1);
-        res.y=odom.second.se2().translation()(0);
+        res.x=odom.second.se2().translation()(0);
+        res.y=odom.second.se2().translation()(1);
         res.yaw=odom.second.pitch();
         res.cov={odom.first(0,0),odom.first(0,1),odom.first(0,2),
                  odom.first(1,0),odom.first(1,1),odom.first(1,2),