diff --git a/include/rovio/ImagePyramid.hpp b/include/rovio/ImagePyramid.hpp
index 502a35ca..fb35aab9 100644
--- a/include/rovio/ImagePyramid.hpp
+++ b/include/rovio/ImagePyramid.hpp
@@ -134,8 +134,9 @@ class ImagePyramid{
    * @param l                  - Pyramid level at which the corners should be extracted.
    * @param detectionThreshold - Detection threshold of the used cv::FastFeatureDetector.
    *                             See http://docs.opencv.org/trunk/df/d74/classcv_1_1FastFeatureDetector.html
+   * @param valid_radius       - Radius inside which a feature is considered valid (as ratio of shortest image side)
    */
-  void detectFastCorners(FeatureCoordinatesVec & candidates, int l, int detectionThreshold) const{
+  void detectFastCorners(FeatureCoordinatesVec & candidates, int l, int detectionThreshold, double valid_radius = std::numeric_limits<double>::max()) const{
     std::vector<cv::KeyPoint> keypoints;
 #if (CV_MAJOR_VERSION < 3)
     cv::FastFeatureDetector feature_detector_fast(detectionThreshold, true);
diff --git a/include/rovio/ImgUpdate.hpp b/include/rovio/ImgUpdate.hpp
index 0f440925..084cf4b1 100644
--- a/include/rovio/ImgUpdate.hpp
+++ b/include/rovio/ImgUpdate.hpp
@@ -985,7 +985,7 @@ ImgOutlierDetection<typename FILTERSTATE::mtState>,false>{
         const double t1 = (double) cv::getTickCount();
         candidates_.clear();
         for(int l=endLevel_;l<=startLevel_;l++){
-          meas.aux().pyr_[camID].detectFastCorners(candidates_,l,fastDetectionThreshold_);
+          meas.aux().pyr_[camID].detectFastCorners(candidates_,l,fastDetectionThreshold_, mpMultiCamera_->cameras_[camID].valid_radius_);
         }
         const double t2 = (double) cv::getTickCount();
         if(verbose_) std::cout << "== Detected " << candidates_.size() << " on levels " << endLevel_ << "-" << startLevel_ << " (" << (t2-t1)/cv::getTickFrequency()*1000 << " ms)" << std::endl;