diff --git a/GPU_version/vio/param/vo_fast.yaml b/GPU_version/vio/param/vo_fast.yaml
index d415c2d..ed946b9 100644
--- a/GPU_version/vio/param/vo_fast.yaml
+++ b/GPU_version/vio/param/vo_fast.yaml
@@ -1,6 +1,6 @@
 vio:
   grid_size: 8            #Feature grid size of a cell in [px].
-  max_n_kfs: 200            #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed.  Minimum number of keyframes is 3.
+  max_n_kfs: 30            #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed.  Minimum number of keyframes is 3.
   loba_num_iter: 10         #Number of iterations in the local bundle adjustment.
   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.
@@ -8,7 +8,7 @@ vio:
   init_min_disparity: 10
   structureoptim_max_pts: 50
   kfselect_mindist: 0.01
-  poseoptim_thresh: 1.5
+  poseoptim_thresh: 1.25
   ACC_ekf: 0.2          #acc white noise in continuous in EKF
   GYO_ekf: 0.1         #gyro white noise in continuous in EKF
   VO_ekf_translation: 1.0              #VO noise  in EKF
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index 216f846..6d9dab8 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -219,7 +219,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   // add keyframe to map
   map_.addKeyframe(new_frame_);
   map_.checkKeyFrames();
-  //ba_glob_->new_key_frame();
+  ba_glob_->new_key_frame();
   return RESULT_IS_KEYFRAME;
 }
 
diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index c279c14..6efbc04 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -75,7 +75,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
     }
   computeHomography(frame_cur,
        features_ref_, px_cur_,
-      frame_ref_->cam_->errorMultiplier2(), 3.0*Config::poseOptimThresh(),
+      frame_ref_->cam_->errorMultiplier2(), 5.0,
       inliers_, xyz_in_cur_, T_cur_from_ref_);
   if(inliers_.size() < Config::initMinInliers()){
 #if VIO_DEBUG