diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index bb9e8b40..97d10aa0 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -32,6 +32,7 @@
 #include <QtGui/QProgressDialog>
 #include <QtGui/QCloseEvent>
 #include <QtGui/QCheckBox>
+#include <QtGui/QScrollBar>
 
 #include "utilite/UDirectory.h"
 
@@ -48,8 +49,8 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
 	aboutDialog_ = new AboutDialog(this);
 	this->setStatusBar(new QStatusBar());
 
-	likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_);
-	ui_->likelihoodPlot->addCurve(likelihoodCurve_); // ownership transfered
+	likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_, this);
+	ui_->likelihoodPlot->addCurve(likelihoodCurve_, false);
 	ui_->likelihoodPlot->setGraphicsView(true);
 
 	if(!camera_)
@@ -79,7 +80,7 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
 	ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
 	ui_->menuView->addAction(ui_->dockWidget_objects->toggleViewAction());
 	ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
-	connect(ui_->toolBox, SIGNAL(parametersChanged()), this, SLOT(notifyParametersChanged()));
+connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
 
 	ui_->imageView_source->setGraphicsViewMode(false);
 	ui_->imageView_source->setTextLabel(tr("Press \"space\" to start camera..."));
@@ -637,7 +638,7 @@ void MainWindow::updateData()
 	if(count)
 	{
 		objectsDescriptors_ = cv::Mat(count, dim, type);
-		printf("Total descriptors=%d, dim=%d, type=%d\n",count, dim, type);
+		printf("Updating global descriptors matrix: Total descriptors=%d, dim=%d, type=%d\n",count, dim, type);
 		int row = 0;
 		for(int i=0; i<objects_.size(); ++i)
 		{
@@ -654,14 +655,16 @@ void MainWindow::updateData()
 		}
 		if(Settings::getGeneral_invertedSearch())
 		{
+			printf("Creating FLANN index (%s) with objects' descriptors...\n", Settings::currentNearestNeighborType().toStdString().c_str());
 			// CREATE INDEX
 			QTime time;
 			time.start();
 			cv::flann::IndexParams * params = Settings::createFlannIndexParams();
 			flannIndex_.build(objectsDescriptors_, *params, Settings::getFlannDistanceType());
 			delete params;
-			ui_->label_timeIndexing->setNum(time.restart());
+			ui_->label_timeIndexing->setNum(time.elapsed());
 			ui_->label_vocabularySize->setNum(objectsDescriptors_.rows);
+			printf("Creating FLANN index (%s) with objects' descriptors... done! (%d ms)\n", Settings::currentNearestNeighborType().toStdString().c_str(), time.elapsed());
 		}
 	}
 }
@@ -839,6 +842,7 @@ void MainWindow::update(const cv::Mat & image)
 			if(!Settings::getGeneral_invertedSearch())
 			{
 				// CREATE INDEX
+				//printf("Creating FLANN index (%s)\n", Settings::currentNearestNeighborType().toStdString().c_str());
 				cv::flann::IndexParams * params = Settings::createFlannIndexParams();
 				flannIndex_.build(descriptors, *params, Settings::getFlannDistanceType());
 				delete params;
@@ -933,6 +937,8 @@ void MainWindow::update(const cv::Mat & image)
 			}
 
 			QMap<int, float> scores;
+			int maxScoreId = -1;
+			int maxScore = 0;
 			// For each object
 			for(int i=0; i<matches.size(); ++i)
 			{
@@ -1052,6 +1058,11 @@ void MainWindow::update(const cv::Mat & image)
 				}
 
 				scores.insert(objects_.at(i)->id(), matches[i].size());
+				if(maxScoreId == -1 || maxScore < matches[i].size())
+				{
+					maxScoreId = objects_.at(i)->id();
+					maxScore = matches[i].size();
+				}
 			}
 
 			//update likelihood plot
@@ -1064,6 +1075,17 @@ void MainWindow::update(const cv::Mat & image)
 			ui_->label_minMatchedDistance->setNum(minMatchedDistance);
 			ui_->label_maxMatchedDistance->setNum(maxMatchedDistance);
 
+			//Scroll objects slider to the best score
+			if(maxScoreId>=0)
+			{
+				QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxScoreId));
+				if(label)
+				{
+					ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
+				}
+			}
+
+			// Emit homographies
 			if(objectsDetected.size())
 			{
 				emit objectsFound(objectsDetected);
@@ -1120,12 +1142,48 @@ void MainWindow::update(const cv::Mat & image)
 	}
 }
 
-void MainWindow::notifyParametersChanged()
+void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 {
-	printf("Parameters changed...\n");
+
+	//Selective update (to not update all objects for a simple camera's parameter modification)
+	bool detectorDescriptorParamsChanged = false;
+	bool nearestNeighborParamsChanged = false;
+	QString currentDetectorType = Settings::currentDetectorType();
+	QString currentDescriptorType = Settings::currentDescriptorType();
+	QString currentNNType = Settings::currentNearestNeighborType();
+	//printf("currentDescriptorType: %s\n", currentDescriptorType.toStdString().c_str());
+	//printf("currentNNType: %s\n", currentNNType.toStdString().c_str());
+	for(QStringList::const_iterator iter = paramChanged.begin(); iter!=paramChanged.end(); ++iter)
+	{
+		printf("Parameter changed: %s\n", iter->toStdString().c_str());
+		if(!detectorDescriptorParamsChanged &&
+		   ( iter->contains(currentDetectorType) ||
+		     iter->contains(currentDescriptorType) ||
+		     iter->compare(Settings::kDetector_Descriptor_1Detector()) == 0 ||
+		     iter->compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ))
+		{
+			detectorDescriptorParamsChanged = true;
+		}
+		else if(!nearestNeighborParamsChanged &&
+			    ( iter->contains(currentNNType) ||
+			      iter->compare(Settings::kGeneral_invertedSearch()) == 0 ||
+			      iter->compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
+			      iter->compare(Settings::kNearestNeighbor_2Distance_type()) == 0))
+		{
+			nearestNeighborParamsChanged = true;
+		}
+	}
+
 	if(Settings::getGeneral_autoUpdateObjects())
 	{
-		this->updateObjects();
+		if(detectorDescriptorParamsChanged)
+		{
+			this->updateObjects();
+		}
+		else if(nearestNeighborParamsChanged)
+		{
+			this->updateData();
+		}
 	}
 	else if(objects_.size())
 	{
diff --git a/src/MainWindow.h b/src/MainWindow.h
index 054ff1a7..e9828c85 100644
--- a/src/MainWindow.h
+++ b/src/MainWindow.h
@@ -65,7 +65,7 @@ private slots:
 	void showHideControls();
 	void update(const cv::Mat & image);
 	void updateObjects();
-	void notifyParametersChanged();
+	void notifyParametersChanged(const QStringList & param);
 	void moveCameraFrame(int frame);
 
 signals:
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index 39b1d875..e0166aaf 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -28,8 +28,9 @@ QWidget * ParametersToolBox::getParameterWidget(const QString & key)
 	return this->findChild<QWidget*>(key);
 }
 
-void ParametersToolBox::resetPage(int index)
+QStringList ParametersToolBox::resetPage(int index)
 {
+	QStringList paramChanged;
 	const QObjectList & children = this->widget(index)->children();
 	for(int j=0; j<children.size();++j)
 	{
@@ -40,49 +41,72 @@ void ParametersToolBox::resetPage(int index)
 			QVariant value = Settings::getDefaultParameters().value(key, QVariant());
 			if(value.isValid())
 			{
+				Settings::setParameter(key, value);
+
 				if(qobject_cast<QComboBox*>(children.at(j)))
 				{
-					((QComboBox*)children.at(j))->setCurrentIndex(value.toString().split(':').first().toInt());
+					if(((QComboBox*)children.at(j))->currentIndex() != value.toString().split(':').first().toInt())
+					{
+						((QComboBox*)children.at(j))->setCurrentIndex(value.toString().split(':').first().toInt());
+						paramChanged.append(key);
+					}
 				}
 				else if(qobject_cast<QSpinBox*>(children.at(j)))
 				{
-					((QSpinBox*)children.at(j))->setValue(value.toInt());
+					if(((QSpinBox*)children.at(j))->value() != value.toInt())
+					{
+						((QSpinBox*)children.at(j))->setValue(value.toInt());
+						paramChanged.append(key);
+					}
 				}
 				else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
 				{
-					((QDoubleSpinBox*)children.at(j))->setValue(value.toDouble());
+					if(((QDoubleSpinBox*)children.at(j))->value() != value.toDouble())
+					{
+						((QDoubleSpinBox*)children.at(j))->setValue(value.toDouble());
+						paramChanged.append(key);
+					}
 				}
 				else if(qobject_cast<QCheckBox*>(children.at(j)))
 				{
-					((QCheckBox*)children.at(j))->setChecked(value.toBool());
+					if(((QCheckBox*)children.at(j))->isChecked() != value.toBool())
+					{
+						((QCheckBox*)children.at(j))->setChecked(value.toBool());
+						paramChanged.append(key);
+					}
 				}
 				else if(qobject_cast<QLineEdit*>(children.at(j)))
 				{
-					((QLineEdit*)children.at(j))->setText(value.toString());
+					if(((QLineEdit*)children.at(j))->text().compare(value.toString()) != 0)
+					{
+						((QLineEdit*)children.at(j))->setText(value.toString());
+						paramChanged.append(key);
+					}
 				}
-				Settings::setParameter(key, value);
 			}
 		}
 	}
+	return paramChanged;
 }
 
 void ParametersToolBox::resetCurrentPage()
 {
 	this->blockSignals(true);
-	this->resetPage(this->currentIndex());
+	QStringList paramChanged = this->resetPage(this->currentIndex());
 	this->blockSignals(false);
-	emit parametersChanged();
+	emit parametersChanged(paramChanged);
 }
 
 void ParametersToolBox::resetAllPages()
 {
+	QStringList paramChanged;
 	this->blockSignals(true);
 	for(int i=0; i< this->count(); ++i)
 	{
-		this->resetPage(i);
+		paramChanged.append(this->resetPage(i));
 	}
 	this->blockSignals(false);
-	emit parametersChanged();
+	emit parametersChanged(paramChanged);
 }
 
 void ParametersToolBox::setupUi()
@@ -300,7 +324,9 @@ void ParametersToolBox::changeParameter(const QString & value)
 	if(sender())
 	{
 		Settings::setParameter(sender()->objectName(), value);
-		emit parametersChanged();
+		QStringList paramChanged;
+		paramChanged.append(sender()->objectName());
+		emit parametersChanged(paramChanged);
 	}
 }
 void ParametersToolBox::changeParameter()
@@ -322,21 +348,25 @@ void ParametersToolBox::changeParameter()
 		{
 			Settings::setParameter(sender()->objectName(), lineEdit->text());
 		}
-		emit parametersChanged();
+		QStringList paramChanged;
+		paramChanged.append(sender()->objectName());
+		emit parametersChanged(paramChanged);
 	}
 }
 void ParametersToolBox::changeParameter(const int & value)
 {
 	if(sender())
 	{
+		QStringList paramChanged;
 		QComboBox * comboBox = qobject_cast<QComboBox*>(sender());
 		QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender());
 		if(comboBox)
 		{
+			bool nnStrategyChanged = false;
+			//verify binary issue with nearest neighbor strategy
 			if(comboBox->objectName().compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ||
 			   comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0)
 			{
-				//verify binary issue
 				QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kDetector_Descriptor_2Descriptor());
 				QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
 				bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 || descriptorBox->currentText().compare("Brief") == 0;
@@ -351,12 +381,15 @@ void ParametersToolBox::changeParameter(const int & value)
 					QString tmp = Settings::getNearestNeighbor_1Strategy();
 					*tmp.begin() = '5'; // set index
 					Settings::setNearestNeighbor_1Strategy(tmp);
+					nnBox->blockSignals(true);
 					this->updateParameter(Settings::kNearestNeighbor_1Strategy());
+					nnBox->blockSignals(false);
 					if(sender() == nnBox)
 					{
 						return;
 					}
-
+					nnStrategyChanged = true;
+					paramChanged.append(Settings::kNearestNeighbor_1Strategy());
 				}
 				else if(!isBinaryDescriptor && nnBox->currentText().compare("Lsh") == 0)
 				{
@@ -369,11 +402,44 @@ void ParametersToolBox::changeParameter(const int & value)
 					QString tmp = Settings::getNearestNeighbor_1Strategy();
 					*tmp.begin() = '1'; // set index
 					Settings::setNearestNeighbor_1Strategy(tmp);
+					nnBox->blockSignals(true);
 					this->updateParameter(Settings::kNearestNeighbor_1Strategy());
+					nnBox->blockSignals(false);
 					if(sender() == nnBox)
 					{
 						return;
 					}
+					nnStrategyChanged = true;
+					paramChanged.append(Settings::kNearestNeighbor_1Strategy());
+				}
+			}
+
+			// Distance issue when using nearest neighbor strategy using CV_32F type, though Lsh support all type (doesn't crash at least)
+			if(nnStrategyChanged ||
+			   comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
+			   comboBox->objectName().compare(Settings::kNearestNeighbor_2Distance_type()) == 0)
+			{
+				QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
+				QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
+				if(nnBox->currentText().compare("Lsh") != 0 && distBox->currentIndex() > 1)
+				{
+					QMessageBox::warning(this,
+										tr("Error"),
+										tr("Current selected nearest neighbor strategy type (\"%1\") cannot handle distance strategy (\"%2\").\n"
+										   "Falling back to \"EUCLIDEAN_L2\" distance strategy (by default).")
+										   .arg(nnBox->currentText())
+										   .arg(distBox->currentText()));
+					QString tmp = Settings::getNearestNeighbor_2Distance_type();
+					*tmp.begin() = '0'; // set index
+					Settings::setNearestNeighbor_2Distance_type(tmp);
+					distBox->blockSignals(true);
+					this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
+					distBox->blockSignals(false);
+					if(sender() == distBox)
+					{
+						return;
+					}
+					paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
 				}
 			}
 
@@ -389,6 +455,7 @@ void ParametersToolBox::changeParameter(const int & value)
 		{
 			Settings::setParameter(sender()->objectName(), value==Qt::Checked?true:false);
 		}
-		emit parametersChanged();
+		paramChanged.append(sender()->objectName());
+		emit parametersChanged(paramChanged);
 	}
 }
diff --git a/src/ParametersToolBox.h b/src/ParametersToolBox.h
index bf0b97da..8450bb32 100644
--- a/src/ParametersToolBox.h
+++ b/src/ParametersToolBox.h
@@ -31,7 +31,7 @@ private:
 	void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
 
 signals:
-	void parametersChanged();
+	void parametersChanged(const QStringList & name);
 
 private slots:
 	void changeParameter();
@@ -41,7 +41,7 @@ private slots:
 	void resetAllPages();
 
 private:
-	void resetPage(int index);
+	QStringList resetPage(int index);
 };
 
 #endif /* PARAMETERSTOOLBOX_H_ */
diff --git a/src/rtabmap/PdfPlot.cpp b/src/rtabmap/PdfPlot.cpp
index 2703d846..578382b3 100644
--- a/src/rtabmap/PdfPlot.cpp
+++ b/src/rtabmap/PdfPlot.cpp
@@ -1,4 +1,4 @@
-// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
+// Taken from RTAB-Map library r606 [www.rtabmap.googlecode.com]
 
 /*
  * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
diff --git a/src/rtabmap/PdfPlot.h b/src/rtabmap/PdfPlot.h
index 042f2c6b..323b66c5 100644
--- a/src/rtabmap/PdfPlot.h
+++ b/src/rtabmap/PdfPlot.h
@@ -1,4 +1,4 @@
-// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
+// Taken from RTAB-Map library r606 [www.rtabmap.googlecode.com]
 
 /*
  * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
diff --git a/src/ui/mainWindow.ui b/src/ui/mainWindow.ui
index d2544cd0..37b0c901 100644
--- a/src/ui/mainWindow.ui
+++ b/src/ui/mainWindow.ui
@@ -223,14 +223,13 @@
     <addaction name="actionAdd_objects_from_files"/>
     <addaction name="separator"/>
     <addaction name="actionLoad_scene_from_file"/>
+    <addaction name="actionCamera_from_directory_of_images"/>
+    <addaction name="actionCamera_from_video_file"/>
     <addaction name="separator"/>
     <addaction name="actionStart_camera"/>
     <addaction name="actionPause_camera"/>
     <addaction name="actionStop_camera"/>
     <addaction name="separator"/>
-    <addaction name="actionCamera_from_directory_of_images"/>
-    <addaction name="actionCamera_from_video_file"/>
-    <addaction name="separator"/>
     <addaction name="actionRestore_all_default_settings"/>
     <addaction name="separator"/>
     <addaction name="actionRemove_all_objects"/>
@@ -665,7 +664,7 @@
   </action>
   <action name="actionLoad_scene_from_file">
    <property name="text">
-    <string>Load scene from file...</string>
+    <string>Camera from single file...</string>
    </property>
   </action>
   <action name="actionPause_camera">
diff --git a/src/utilite/UPlot.cpp b/src/utilite/UPlot.cpp
index df0d87aa..bd6e8a55 100644
--- a/src/utilite/UPlot.cpp
+++ b/src/utilite/UPlot.cpp
@@ -1,4 +1,4 @@
-// Taken from UtiLite library r185 [www.utilite.googlecode.com]
+// Taken from UtiLite library r186 [www.utilite.googlecode.com]
 
 /*
 *  utilite is a cross-platform library with
@@ -296,7 +296,6 @@ void UPlotCurve::attach(UPlot * plot)
 	{
 		return;
 	}
-	this->setParent(plot);
 	if(_plot)
 	{
 		_plot->removeCurve(this);
@@ -1738,7 +1737,7 @@ UPlotCurve * UPlot::addCurve(const QString & curveName, const QColor & color)
 	return curve;
 }
 
-bool UPlot::addCurve(UPlotCurve * curve)
+bool UPlot::addCurve(UPlotCurve * curve, bool ownershipTransferred)
 {
 	if(curve)
 	{
@@ -1757,7 +1756,11 @@ bool UPlot::addCurve(UPlotCurve * curve)
 
 		// add curve
 		_curves.append(curve);
-		curve->attach(this); // ownership is transferred
+		curve->attach(this);
+		if(ownershipTransferred)
+		{
+			curve->setParent(this);
+		}
 		this->updateAxis(curve);
 		curve->setXStart(_axisMaximums[1]);
 
diff --git a/src/utilite/UPlot.h b/src/utilite/UPlot.h
index 8df2baad..555c12ef 100644
--- a/src/utilite/UPlot.h
+++ b/src/utilite/UPlot.h
@@ -1,4 +1,4 @@
-// Taken from UtiLite library r185 [www.utilite.googlecode.com]
+// Taken from UtiLite library r186 [www.utilite.googlecode.com]
 
 /*
 *  utilite is a cross-platform library with
@@ -141,7 +141,6 @@ public:
 	void setData(const std::vector<float> & y);
 	void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
 	void draw(QPainter * painter);
-	const QVector<float> & getMinMax() const {return _minMax;}
 
 public slots:
 	/**
@@ -225,6 +224,7 @@ protected:
 	void attach(UPlot * plot);
 	void detach(UPlot * plot);
 	void updateMinMax();
+	const QVector<float> & getMinMax() const {return _minMax;}
 	int removeItem(int index);
 	void _addValue(UPlotItem * data);;
 	virtual bool isMinMaxValid() const {return _minMax.size();}
@@ -475,11 +475,9 @@ public:
 	 */
 	UPlotCurve * addCurve(const QString & curveName, const QColor & color = QColor());
 	/**
-	 * Add a curve. Ownership is transferred to UPlot.
- 	 * If you add the curve to more than one UPlot, the ownership is transferred
- 	 * to the last UPlot.
+	 * Add a curve. Ownership is transferred to UPlot if ownershipTransferred=true.
 	 */
-	bool addCurve(UPlotCurve * curve);
+	bool addCurve(UPlotCurve * curve, bool ownershipTransferred = true);
 	/**
 	 * Get all curve names.
 	 */