diff --git a/d2vins/launch/GRACO.launch b/d2vins/launch/GRACO.launch
index 677b72a..0a0442c 100644
--- a/d2vins/launch/GRACO.launch
+++ b/d2vins/launch/GRACO.launch
@@ -4,8 +4,8 @@
     <arg name="send_img"     default="false"/>
     <arg name="send_whole_img_desc"     default="false"/>
     <arg name="self_id"     default="1"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/GRACO/GRACO_single.yaml" />
     <arg name="match_index_dist" default="200" />
diff --git a/d2vins/launch/VIRAL.launch b/d2vins/launch/VIRAL.launch
index 996922b..0db5ea4 100644
--- a/d2vins/launch/VIRAL.launch
+++ b/d2vins/launch/VIRAL.launch
@@ -4,8 +4,8 @@
     <arg name="send_img"     default="false"/>
     <arg name="send_whole_img_desc"     default="false"/>
     <arg name="self_id"     default="1"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/NTU_VIRAL/NTU_VIRAL_single.yaml" />
     <arg name="match_index_dist" default="200" />
diff --git a/d2vins/launch/mono.launch b/d2vins/launch/mono.launch
index 9faf4fc..4fdd208 100644
--- a/d2vins/launch/mono.launch
+++ b/d2vins/launch/mono.launch
@@ -7,8 +7,8 @@
     <arg name="is_4dof"     default="false"/>
     <arg name="self_id"     default="1"/>
     <arg name="vins"     default="false"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/gopro/gopro.yaml" />
     <arg name="match_index_dist" default="100" />
diff --git a/d2vins/launch/realsense.launch b/d2vins/launch/realsense.launch
index d12df74..c48ddf9 100644
--- a/d2vins/launch/realsense.launch
+++ b/d2vins/launch/realsense.launch
@@ -7,8 +7,8 @@
     <arg name="is_4dof"     default="false"/>
     <arg name="self_id"     default="1"/>
     <arg name="vins"     default="false"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/realsense_d435/d435_single.yaml" />
     <arg name="match_index_dist" default="100" />
diff --git a/d2vins/launch/tum.launch b/d2vins/launch/tum.launch
index 2a2c7ff..3a25500 100644
--- a/d2vins/launch/tum.launch
+++ b/d2vins/launch/tum.launch
@@ -4,8 +4,8 @@
     <arg name="send_img"     default="false"/>
     <arg name="send_whole_img_desc"     default="false"/>
     <arg name="self_id"     default="1"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/tum/tum_single.yaml" />
     <arg name="dep_config" default="$(find d2vins)/../config/tum/tum_depth_gen.yaml" />
diff --git a/quadcam_tools/README.md b/quadcam_tools/README.md
index 6351b05..60a45e2 100644
--- a/quadcam_tools/README.md
+++ b/quadcam_tools/README.md
@@ -4,7 +4,7 @@
 With DLA and int8 (for accelerate on Xaiver NX)
 ```bash
 # Superpoint
-python3 eval_cnns.py --model ../models/superpoint_v1_dyn_size.onnx --data-bchw --engine-cache ../models --width 400 --height 200 --enable-dla --enable-int8 --calib-table --enable-fp16 --enable-tensorrt ../models/superpoint_calibration.flatbuffers #We use 400x200 on the Jetson Nx
+python3 eval_cnns.py --model ../models/superpoint_series/superpoint_v1_dyn_size.onnx --data-bchw --engine-cache ../models --width 400 --height 200 --enable-dla --enable-int8 --calib-table --enable-fp16 --enable-tensorrt ../models/superpoint_calibration.flatbuffers #We use 400x200 on the Jetson Nx
 # MobileNetVlad
 python eval_cnns.py --model ../models/mobilenetvlad_240x320.onnx  --engine-cache ../models  --width 400 --height 200  --enable-dla --enable-int8
 ```
@@ -12,7 +12,7 @@ python eval_cnns.py --model ../models/mobilenetvlad_240x320.onnx  --engine-cache
 Without DLA and int8
 ```bash
 # Superpoint
-python3 eval_cnns.py --model ../models/superpoint_v1_dyn_size.onnx --data-bchw --engine-cache ../models --width 400 --height 200 #We use 400x200 on the Jetson Nx
+python3 eval_cnns.py --model ../models/superpoint_series/superpoint_v1_dyn_size.onnx --data-bchw --engine-cache ../models --width 400 --height 200 #We use 400x200 on the Jetson Nx
 # MobileNetVlad
-python3 eval_cnns.py --model ../models/mobilenetvlad_dyn_size.onnx  --engine-cache ../models  --width 400 --height 200
+python3 eval_cnns.py --model ../models/netvlad_series/mobilenetvlad_dyn_size.onnx  --engine-cache ../models  --width 400 --height 200
 ```
diff --git a/quadcam_tools/quantonnx.py b/quadcam_tools/quantonnx.py
index 1de46f3..2f5cb32 100644
--- a/quadcam_tools/quantonnx.py
+++ b/quadcam_tools/quantonnx.py
@@ -60,7 +60,7 @@ def get_next(self):
 
     width = 400
     height = 200
-    model_fp32 = "../models/superpoint_v1_dyn_size.onnx"
+    model_fp32 = "../models/superpoint_series/superpoint_v1_dyn_size.onnx"
     augmented_model_path = f"../models/superpoint_v1_{width}x{height}_augmented_model.onnx"
     print(f"Quantization for TensorRT of superpoint {width}x{height}...")
     calibrator = create_calibrator(model_fp32, [], augmented_model_path=augmented_model_path, 
@@ -79,7 +79,7 @@ def get_next(self):
     os.rename("calibration.json", "../models/superpoint_calibration.json")
 
     print(f"Quantization for TensorRT of MobileNetVLAD {width}x{height}...")
-    model_fp32 = "../models/mobilenetvlad_dyn_size.onnx"
+    model_fp32 = "../models/netvlad_series/mobilenetvlad_dyn_size.onnx"
     augmented_model_path = f"../models/mobilenetvlad_{width}x{height}_augmented_model.onnx"
     calibrator = create_calibrator(model_fp32, [], augmented_model_path=augmented_model_path, 
             calibrate_method = CalibrationMethod.Entropy)