diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index 41bcd3c1da..b93a2ba0b1 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -377,7 +377,7 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(RGBD, LoopCovLimited,               bool, false,  "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
     RTABMAP_PARAM(RGBD, MaxOdomCacheSize,             int,  10,      uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(RGBD, LocalizationSmoothing,        bool, true,    uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).",  kRGBDMaxOdomCacheSize().c_str()));
-    RTABMAP_PARAM(RGBD, LocalizationPriorError,       double, 0.01,  uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).",  kRGBDMaxOdomCacheSize().c_str()));
+    RTABMAP_PARAM(RGBD, LocalizationPriorError,       double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).",  kRGBDMaxOdomCacheSize().c_str()));
 
     // Local/Proximity loop closure detection
     RTABMAP_PARAM(RGBD, ProximityByTime,              bool, false, "Detection over all locations in STM.");
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index f6d3dd1cf1..ef9040d00d 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-876</y>
+            <y>-844</y>
             <width>756</width>
             <height>4371</height>
            </rect>
@@ -11770,7 +11770,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                           <string> m</string>
                          </property>
                          <property name="decimals">
-                          <number>3</number>
+                          <number>4</number>
                          </property>
                          <property name="maximum">
                           <double>1.000000000000000</double>