diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt
new file mode 100755
index 0000000..e69de29
diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt
new file mode 100755
index 0000000..e69de29
diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml
index 0bad1f9..efd75b0 100644
--- a/GPU_version/vio/param/vo_fast.yaml
+++ b/GPU_version/vio/param/vo_fast.yaml
@@ -8,11 +8,10 @@ vio:
   init_min_disparity: 10
   structureoptim_max_pts: 50
   kfselect_mindist: 0.01
-  poseoptim_thresh: 1.75
-  init_min_inliers: 40
+  poseoptim_thresh: 3.0
   ACC_ekf: 0.2          #acc white noise in continuous in EKF
   GYO_ekf: 0.5         #gyro white noise in continuous in EKF
   VO_ekf_translation: 1.0              #VO noise  in EKF
-  VO_ekf_orientation: 0.5              #VO noise  in EKF
+  VO_ekf_orientation: 1.0              #VO noise  in EKF
   CMD_ekf_translation: 0.1  #control vector noise in EKF
   CMD_ekf_orientation: 0.01  #control vector noise in EKF
diff --git a/GPU_version/vio/src/global_optimizer.cpp b/GPU_version/vio/src/global_optimizer.cpp
index 44e0afd..e57759e 100644
--- a/GPU_version/vio/src/global_optimizer.cpp
+++ b/GPU_version/vio/src/global_optimizer.cpp
@@ -143,7 +143,7 @@ namespace vio {
                    // }
                 }
             }
-            if(optimizer.vertices().empty()){
+            if(optimizer.vertices().empty() || optimizer.vertices().size()<1){
                 ba_mux_.unlock();
                 continue;
             }