> ## Documentation Index
> Fetch the complete documentation index at: https://docs.dwe.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Tracking & Filter Parameters

<Info>
  Stick to the default parameters for the best out-of-the-box experience. Manual
  tuning is entirely optional and reserved for advanced performance
  optimization.
</Info>

## Tracking Parameters

VSLAM tracking performance can be optimized for your environment by adjusting the following parameters.

<Frame caption="">
  <img src="https://mintcdn.com/deepwaterexplorationinc/XQu0YI4ZP0f0zWio/dw-desktop/guides/images/vslam/dw-desktop-vslam-tracking-settings.png?fit=max&auto=format&n=XQu0YI4ZP0f0zWio&q=85&s=cc30352c0bf0a6f92fe8d28a4e8f5bba" alt="VSLAM Tracking Settings" width="761" height="256" data-path="dw-desktop/guides/images/vslam/dw-desktop-vslam-tracking-settings.png" />
</Frame>

| Parameter              | What it does                                                                                                                                                         |
| ---------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| High Threshold         | Controls how lenient the stereo-matching algorithm is. Lower is more lenient, higher is more accurate.                                                               |
| Feature Count          | Maximum allowed number of features in a single frame. Higher feature count increases the chance of loop closures/map merges happening at the cost of performance.    |
| Initial FAST Threshold | Initial FAST threshold used for feature detection. Lower threshold increases detected features, but increases likelihood of incorrect feature matches across frames. |
| Min FAST Threshold     | Fallback FAST threshold used if the initial threshold did not find enough features.                                                                                  |

## Filter Parameters

A voxel filter is used to ensure uniform point distribution in the resulting point cloud. The following filter settings can be configured.

<Frame caption="">
  <img src="https://mintcdn.com/deepwaterexplorationinc/XQu0YI4ZP0f0zWio/dw-desktop/guides/images/vslam/dw-desktop-vslam-filter-settings.png?fit=max&auto=format&n=XQu0YI4ZP0f0zWio&q=85&s=a5ffd4f7dac0c6574689ba2fe094b194" alt="VSLAM Filter Settings" width="761" height="255" data-path="dw-desktop/guides/images/vslam/dw-desktop-vslam-filter-settings.png" />
</Frame>

| Parameter            | What it does                                                                                                                                                       |
| -------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| Min Points per Voxel | Minimum number of points required within a single voxel to produce a visible point in the output cloud                                                             |
| Min Depth (m)        | Points closer than this threshold will be ignored.                                                                                                                 |
| Max Depth (m)        | Points further than this threshold will be ignored.                                                                                                                |
| Leaf Size (cm)       | Size in centimeters of a voxel. Lowering this value will increase detail at the cost of memory consumption. Sizes less than 2cm should only be used on small maps. |