diff --git a/include/find_object/MainWindow.h b/include/find_object/MainWindow.h
index e888fe31..ce94d391 100644
--- a/include/find_object/MainWindow.h
+++ b/include/find_object/MainWindow.h
@@ -98,6 +98,8 @@ private Q_SLOTS:
 	void updateObjectsSize();
 	void updateMirrorView();
 	void showHideControls();
+	void showObjectsFeatures();
+	void hideObjectsFeatures();
 	void updateObjects();
 	void notifyParametersChanged(const QStringList & param);
 	void moveCameraFrame(int frame);
diff --git a/src/FindObject.cpp b/src/FindObject.cpp
index 5e42de86..34efc36d 100644
--- a/src/FindObject.cpp
+++ b/src/FindObject.cpp
@@ -1143,8 +1143,10 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 							// If a point is outside of 2x times the surface of the scene, homography is invalid.
 							for(int p=0; p<rectH.size(); ++p)
 							{
-								if(rectH.at(p).x() < -image.cols || rectH.at(p).x() > image.cols*2 ||
-								   rectH.at(p).y() < -image.rows || rectH.at(p).y() > image.rows*2)
+								if((rectH.at(p).x() < -image.cols && rectH.at(p).x() < -objectRect.width()) ||
+								   (rectH.at(p).x() > image.cols*2  && rectH.at(p).x() > objectRect.width()*2) ||
+								   (rectH.at(p).y() < -image.rows  && rectH.at(p).x() < -objectRect.height()) ||
+								   (rectH.at(p).y() > image.rows*2  && rectH.at(p).x() > objectRect.height()*2))
 								{
 									code= DetectionInfo::kRejectedNotValid;
 									break;
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index 879705b1..969312b1 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -160,7 +160,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
 
 	ui_->imageView_source->setGraphicsViewMode(true);
-	ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera..."));
+	ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera or drop an image here..."));
 	ui_->imageView_source->setMirrorView(Settings::getGeneral_mirrorView());
 	connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_mirrorView()),
 				SIGNAL(stateChanged(int)),
@@ -200,6 +200,8 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	connect(ui_->actionRemove_all_objects, SIGNAL(triggered()), this, SLOT(removeAllObjects()));
 	connect(ui_->actionSave_settings, SIGNAL(triggered()), this, SLOT(saveSettings()));
 	connect(ui_->actionLoad_settings, SIGNAL(triggered()), this, SLOT(loadSettings()));
+	connect(ui_->actionShow_objects_features, SIGNAL(triggered()), this, SLOT(showObjectsFeatures()));
+	connect(ui_->actionHide_objects_features, SIGNAL(triggered()), this, SLOT(hideObjectsFeatures()));
 
 	connect(ui_->pushButton_play, SIGNAL(clicked()), this, SLOT(startProcessing()));
 	connect(ui_->pushButton_stop, SIGNAL(clicked()), this, SLOT(stopProcessing()));
@@ -528,6 +530,22 @@ void MainWindow::showHideControls()
 	ui_->widget_controls->setVisible(Settings::getGeneral_controlsShown());
 }
 
+void MainWindow::showObjectsFeatures()
+{
+	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
+	{
+		iter.value()->setFeaturesShown(true);
+	}
+}
+
+void MainWindow::hideObjectsFeatures()
+{
+	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
+	{
+		iter.value()->setFeaturesShown(false);
+	}
+}
+
 void MainWindow::addObjectFromScene()
 {
 	disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
@@ -553,8 +571,6 @@ void MainWindow::addObjectFromScene()
 		objWidgets_.insert(obj->id(), obj);
 		ui_->actionSave_objects->setEnabled(true);
 		showObject(obj);
-		QLabel * detectorDescriptorType = qFindChild<QLabel*>(this, QString("%1type").arg(obj->id()));
-		detectorDescriptorType->setText(QString("%1/%2").arg(signature->detectorType()).arg(signature->descriptorType()));
 		updateVocabulary();
 		objectsModified_ = true;
 	}
@@ -747,15 +763,12 @@ void MainWindow::showObject(ObjWidget * obj)
 		ui_->toolBox->updateParameter(Settings::kGeneral_nextObjID());
 
 		QLabel * title = new QLabel(QString("%1 (%2)").arg(obj->id()).arg(obj->keypoints().size()), this);
-		QLabel * detectorDescriptorType = new QLabel(QString("%1/%2").arg("detector").arg("descriptor"), this);
 		QLabel * detectedLabel = new QLabel(this);
 		title->setObjectName(QString("%1title").arg(obj->id()));
-		detectorDescriptorType->setObjectName(QString("%1type").arg(obj->id()));
 		detectedLabel->setObjectName(QString("%1detection").arg(obj->id()));
 		QHBoxLayout * hLayout = new QHBoxLayout();
 		hLayout->addWidget(title);
 		hLayout->addStretch(1);
-		hLayout->addWidget(detectorDescriptorType);
 		hLayout->addStretch(1);
 		hLayout->addWidget(detectedLabel);
 		vLayout->addLayout(hLayout);
@@ -764,7 +777,6 @@ void MainWindow::showObject(ObjWidget * obj)
 		connect(obj, SIGNAL(removalTriggered(find_object::ObjWidget*)), this, SLOT(removeObject(find_object::ObjWidget*)));
 		connect(obj, SIGNAL(destroyed(QObject *)), title, SLOT(deleteLater()));
 		connect(obj, SIGNAL(destroyed(QObject *)), detectedLabel, SLOT(deleteLater()));
-		connect(obj, SIGNAL(destroyed(QObject *)), detectorDescriptorType, SLOT(deleteLater()));
 		connect(obj, SIGNAL(destroyed(QObject *)), vLayout, SLOT(deleteLater()));
 		ui_->verticalLayout_objects->insertLayout(ui_->verticalLayout_objects->count()-1, vLayout);
 
@@ -774,7 +786,16 @@ void MainWindow::showObject(ObjWidget * obj)
 		obj->pixmap().scaledToWidth(128).save(&buffer, "JPEG"); // writes image into JPEG format
 		imagesMap_.insert(obj->id(), ba);
 
-		updateObjectSize(obj);
+		// update objects size slider
+		int objectsPanelWidth = ui_->dockWidget_objects->width();
+		if(objectsPanelWidth > 0 && (obj->pixmap().width()*ui_->horizontalSlider_objectsSize->value()) / 100 > objectsPanelWidth)
+		{
+			ui_->horizontalSlider_objectsSize->setValue((objectsPanelWidth * 100) / obj->pixmap().width());
+		}
+		else
+		{
+			updateObjectSize(obj);
+		}
 	}
 }
 
@@ -795,8 +816,6 @@ void MainWindow::updateObjects()
 		//update object labels
 		QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
 		title->setText(QString("%1 (%2)").arg(signatures[i]->id()).arg(QString::number(signatures[i]->keypoints().size())));
-		QLabel * detectorDescriptorType = qFindChild<QLabel*>(this, QString("%1type").arg(signatures[i]->id()));
-		detectorDescriptorType->setText(QString("%1/%2").arg(signatures[i]->detectorType()).arg(signatures[i]->descriptorType()));
 	}
 
 	if(!camera_->isRunning() && !sceneImage_.empty())
@@ -969,9 +988,12 @@ void MainWindow::update(const cv::Mat & image)
 		iter.value()->resetKptsColor();
 	}
 
+	QTime guiRefreshTime;
+
 	DetectionInfo info;
 	if(findObject_->detect(sceneImage_, info))
 	{
+		guiRefreshTime.start();
 		ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
 		ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
 		ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
@@ -1166,6 +1188,8 @@ void MainWindow::update(const cv::Mat & image)
 	}
 	else
 	{
+		guiRefreshTime.start();
+
 		if(findObject_->vocabulary()->size())
 		{
 			this->statusBar()->showMessage(tr("Cannot search, objects must be updated!"));
@@ -1217,6 +1241,8 @@ void MainWindow::update(const cv::Mat & image)
 		lowestRefreshRate_ = 99;
 		refreshStartTime_.start();
 	}
+
+	ui_->label_timeRefreshGUI->setNum(guiRefreshTime.elapsed());
 }
 
 void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
diff --git a/src/ui/mainWindow.ui b/src/ui/mainWindow.ui
index ad6548d9..5e3161fa 100644
--- a/src/ui/mainWindow.ui
+++ b/src/ui/mainWindow.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>881</width>
-    <height>523</height>
+    <height>536</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -251,6 +251,9 @@
     <property name="title">
      <string>View</string>
     </property>
+    <addaction name="actionHide_objects_features"/>
+    <addaction name="actionShow_objects_features"/>
+    <addaction name="separator"/>
    </widget>
    <widget class="QMenu" name="menu">
     <property name="title">
@@ -361,8 +364,8 @@
             <rect>
              <x>0</x>
              <y>0</y>
-             <width>206</width>
-             <height>396</height>
+             <width>222</width>
+             <height>409</height>
             </rect>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_objects">
@@ -426,9 +429,6 @@
          </layout>
         </item>
        </layout>
-       <zorder></zorder>
-       <zorder>verticalSpacer</zorder>
-       <zorder>objects_area</zorder>
       </widget>
      </item>
     </layout>
@@ -514,28 +514,28 @@
          </property>
         </widget>
        </item>
-       <item row="8" column="1">
+       <item row="9" column="1">
         <widget class="QLabel" name="label_minMatchedDistance">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="8" column="0">
+       <item row="9" column="0">
         <widget class="QLabel" name="label_13">
          <property name="text">
           <string>Min matched distance</string>
          </property>
         </widget>
        </item>
-       <item row="9" column="0">
+       <item row="10" column="0">
         <widget class="QLabel" name="label_14">
          <property name="text">
           <string>Max matched distance</string>
          </property>
         </widget>
        </item>
-       <item row="9" column="1">
+       <item row="10" column="1">
         <widget class="QLabel" name="label_maxMatchedDistance">
          <property name="text">
           <string>000</string>
@@ -619,56 +619,56 @@
          </property>
         </widget>
        </item>
-       <item row="10" column="0">
+       <item row="11" column="0">
         <widget class="QLabel" name="label_17">
          <property name="text">
           <string>Vocabulary size</string>
          </property>
         </widget>
        </item>
-       <item row="10" column="1">
+       <item row="11" column="1">
         <widget class="QLabel" name="label_vocabularySize">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="11" column="0">
+       <item row="12" column="0">
         <widget class="QLabel" name="label_18">
          <property name="text">
           <string>IP address</string>
          </property>
         </widget>
        </item>
-       <item row="12" column="0">
+       <item row="13" column="0">
         <widget class="QLabel" name="label_19">
          <property name="text">
           <string>Output detection port</string>
          </property>
         </widget>
        </item>
-       <item row="11" column="1">
+       <item row="12" column="1">
         <widget class="QLabel" name="label_ipAddress">
          <property name="text">
           <string>0.0.0.0</string>
          </property>
         </widget>
        </item>
-       <item row="12" column="1">
+       <item row="13" column="1">
         <widget class="QLabel" name="label_port">
          <property name="text">
           <string>0</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="0">
+       <item row="8" column="0">
         <widget class="QLabel" name="label_20">
          <property name="text">
           <string>Objects detected</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="1">
+       <item row="8" column="1">
         <widget class="QLabel" name="label_objectsDetected">
          <property name="text">
           <string>000</string>
@@ -682,14 +682,14 @@
          </property>
         </widget>
        </item>
-       <item row="13" column="0">
+       <item row="14" column="0">
         <widget class="QLabel" name="label_21">
          <property name="text">
           <string>Input image port</string>
          </property>
         </widget>
        </item>
-       <item row="13" column="1">
+       <item row="14" column="1">
         <widget class="QLabel" name="label_port_image">
          <property name="text">
           <string>-</string>
@@ -717,6 +717,27 @@
          </property>
         </widget>
        </item>
+       <item row="7" column="0">
+        <widget class="QLabel" name="label_24">
+         <property name="text">
+          <string>Refresh GUI</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="1">
+        <widget class="QLabel" name="label_timeRefreshGUI">
+         <property name="text">
+          <string>000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="2">
+        <widget class="QLabel" name="label_25">
+         <property name="text">
+          <string>ms</string>
+         </property>
+        </widget>
+       </item>
       </layout>
      </item>
      <item>
@@ -829,6 +850,16 @@
     <string>Camera from TCP/IP...</string>
    </property>
   </action>
+  <action name="actionHide_objects_features">
+   <property name="text">
+    <string>Hide objects features</string>
+   </property>
+  </action>
+  <action name="actionShow_objects_features">
+   <property name="text">
+    <string>Show objects features</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>