diff --git a/README.md b/README.md
index 7b370d3..c56f169 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,5 @@
 # BaxterInterface
 Bricks for an Rviz based interface for objective sending.
-Maintainer: Antoine Harlé antoine.harle@etu.upmc.fr
 
 ## What is this ?
 
@@ -22,7 +21,7 @@ Thus refrences are required for the module to work properly. It can be loaded th
  - Search at the beggining of the file the "REFERENCE DEFINITION"
  - In refData, enter the path/name of your reference images.
  - In nb_ref, enter the number of images.
- - cmake . && make
+ - `$ cmake . && make`
  - You can now run the program which is going to build the references and try to match with an image given in input : asift_match input.png
  - The generated text file will be located in the results folder.
 
@@ -30,15 +29,15 @@ Thus refrences are required for the module to work properly. It can be loaded th
 ### Done
 
 ### Todo
-asift_matching - ROS_matcher : Working loader of images for reference.
-asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
-asift_matching - ROS_matcher : Swap the callback function to a service called for matching.
+- asift_matching - ROS_matcher : Working loader of images for reference.
+- asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
+- asift_matching - ROS_matcher : Swap the callback function to a service called for matching.
 
 ## How to use it ?
 
 ### Requirements
 
-* ROS Indigo (probably works in other versions too)
+* ROS Indigo
  * PCL
  * QT 5
 * Eigen 3
@@ -46,43 +45,43 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
 ### Usage
 
 * Clone the repository to your catkin src
-* catkin_make
+* `$ catkin_make`
 
 #### Simple Rviz interface
-* Run : roslaunch rviz_interface interface.launch
+* Run : `$ roslaunch rviz_interface interface.launch`
 * Setup rviz :
- - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to (server_topic parameter)/update.
- - add a Marker and set topic to vizualization_topic parameter.
- - add the Rviz interface panel.
+  - set fixed frame to camera_rgb_optical_frame.
+  - add an InteractiveMarker and set topic to (server_topic parameter)/update.
+  - add a Marker and set topic to vizualization_topic parameter.
+  - add the Rviz interface panel.
 
 #### Rviz interface with simple moving tracker
 * Run :
- - roslaunch openni_launch openni.launch 
- - roslaunch rviz_interface interface_plannar_seg.launch
+ - `$ roslaunch openni_launch openni.launch `
+ - `$ roslaunch rviz_interface interface_plannar_seg.launch`
 * Setup rviz :
- - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to (server_topic parameter)/update.
- - add a Marker and set topic to vizualization_topic parameter.
- - add the Rviz interface panel.
- - add a PointCloud2 and set topic to /camera/depth_registered/points.
+  - set fixed frame to camera_rgb_optical_frame.
+  - add an InteractiveMarker and set topic to (server_topic parameter)/update.
+  - add a Marker and set topic to vizualization_topic parameter.
+  - add the Rviz interface panel.
+  - add a PointCloud2 and set topic to /camera/depth_registered/points.
 
 #### ASIFT matching (no vizualisation)
 
 * Run :
- - roslaunch openni_launch openni.launch 
- - asift_matching : roslaunch asift_matching asift_match.launch
+ - `$ roslaunch openni_launch openni.launch`
+ - asift_matching : `$ roslaunch asift_matching asift_match.launch`
 
 #### ASIFT matching & Rviz interface
 * Run :
- - roslaunch openni_launch openni.launch 
- - roslaunch rviz_interface interface_matching.launch
+ - `$ roslaunch openni_launch openni.launch`
+ - `$ roslaunch rviz_interface interface_matching.launch`
 * Setup rviz :
- - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to (server_topic parameter)/update.
- - add a Marker and set topic to vizualization_topic parameter.
- - add the Rviz interface panel.
- - add a PointCloud2 and set topic to /camera/depth_registered/points.
+  - set fixed frame to camera_rgb_optical_frame.
+  - add an InteractiveMarker and set topic to (server_topic parameter)/update.
+  - add a Marker and set topic to vizualization_topic parameter.
+  - add the Rviz interface panel.
+  - add a PointCloud2 and set topic to /camera/depth_registered/points.
 
 ### Parameters
 
@@ -91,7 +90,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
 * rviz_interface parameters are defined as parameters in the rviz_interface launchfiles : Interface objects are defined by their names and types (0-Default, 1-Button, 2-2D object, 3-3D object) (see StateSpace.msg for more details).
 
 * asift_matching parameters are defined as parameters in the asift_matching launchfiles : 
--> References are defined by the path to the references files can be a txt file (faster - see texte reference generation in asift_matching section) or a series of images files (slower - currently not working).
--> Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
--> Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
--> Standaed deviation filter coefficient is defined by a real value. Keep (1-68%/2-95%/3-99%) of the points statistically. 0: no filtering (default).
+  - References are defined by the path to the references files can be a txt file (faster - see texte reference generation in asift_matching section) or a series of images files (slower - currently not working).
+  - Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
+  - Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
+  - Standaed deviation filter coefficient is defined by a real value. Keep (1-68%/2-95%/3-99%) of the points statistically. 0: no filtering (default).