diff --git a/clearpath_sensors/config/stereolabs_zed.yaml b/clearpath_sensors/config/stereolabs_zed.yaml
index b832874..c671e73 100644
--- a/clearpath_sensors/config/stereolabs_zed.yaml
+++ b/clearpath_sensors/config/stereolabs_zed.yaml
@@ -124,7 +124,7 @@ stereolabs_zed:
 
         object_detection:
             od_enabled: false # True to enable Object Detection
-            model: 'MULTI_CLASS_BOX_FAST' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
+            detection_model: 'MULTI_CLASS_BOX_FAST' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
             custom_onnx_file: '' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the YOLO-like ONNX file for custom object detection directly performed by the ZED SDK.
             custom_onnx_input_size: 512 # Resolution used with the YOLO-like ONNX file. For example, 512 means a input tensor '1x3x512x512'
             custom_label_yaml: '' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the COCO-like YAML file storing the custom class labels.
@@ -133,7 +133,7 @@ stereolabs_zed:
             confidence_threshold: 75.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,99]
             prediction_timeout: 0.5 # During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
             enable_tracking: true # Defines if the object detection will track objects across images flow
-            filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
+            filtering_mode: 'NMS3D' # Filtering mode that should be applied to raw detections: 'NONE', 'NMS3D', 'NMS3D_PER_CLASS'
             mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
             mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
             mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models