diff --git a/AutonomousMode/Input/input.cpp b/AutonomousMode/Input/input.cpp
index fee41a1..7dd90cf 100644
--- a/AutonomousMode/Input/input.cpp
+++ b/AutonomousMode/Input/input.cpp
@@ -22,15 +22,17 @@ Mat Input::readFile(String filePath)
     cv::glob(folder, filenames);
 
     // Random shuffle
-    std::random_shuffle(filenames.begin(), filenames.end());
+    std::random_device rd;
+    std::mt19937 g(rd());
+    std::shuffle(filenames.begin(), filenames.end(), g);
 
     Mat image = imread(filePath, IMREAD_COLOR);
     
     if(image.empty())
     {
-        std::cout << "Could not read the image: " << filePath << std::endl;
-        return Mat();
-        //To do:Exception handeling
+        stringstream sstream;
+        sstream << "Could not read the image: " << filePath << std::endl;
+        throw std::runtime_error(sstream.str());
     }
     resize(image, image, Size(this->videoWidth, this->videoHeight));
     return image;
@@ -41,13 +43,15 @@ Mat Input::readWebcam()
     Mat image;
 
     if(!cap.isOpened()) {
-        cout << "Video capture not opened" << std::endl;
-        return Mat();
+        stringstream sstream;
+        sstream << "Video capture not opened" << std::endl;
+        throw std::runtime_error(sstream.str());
     }
 
     if(!cap.grab()) {
-        cout << "Could not grab frame from camera" << std::endl;
-        return Mat();
+        stringstream sstream;
+        sstream << "Could not grab frame from camera" << std::endl;
+        throw std::runtime_error(sstream.str());
     }   
     cap.retrieve(image);
     return image;  
diff --git a/AutonomousMode/Input/input.h b/AutonomousMode/Input/input.h
index c4accac..c87191a 100644
--- a/AutonomousMode/Input/input.h
+++ b/AutonomousMode/Input/input.h
@@ -4,6 +4,7 @@
 #include <vector>
 #include <string>
 #include <algorithm>
+#include <random>
 
 #include <opencv2/opencv.hpp>
 #include <opencv2/core/utils/logger.hpp>
diff --git a/AutonomousMode/autonomous_mode_main.cpp b/AutonomousMode/autonomous_mode_main.cpp
index dbd44a7..ca229bc 100644
--- a/AutonomousMode/autonomous_mode_main.cpp
+++ b/AutonomousMode/autonomous_mode_main.cpp
@@ -17,7 +17,7 @@ int main(void)
     {
         std::unique_lock<std::mutex> lock(mutex);
         std::cerr<<"camera exception:"<<ex.what()<<std::endl;
-        return true;
+        return false;
     });
 
     //To calculate the frame rate
@@ -30,7 +30,9 @@ int main(void)
         std::unique_lock<std::mutex> lock(mutex);
         if (!result.rawImage.empty())
         {
-            cv::resize(result.rawImage, img, cv::Size(128, 64+32));
+            img = result.rawImage;
+            //Resize to minimize latency using raspi over ssh
+            //cv::resize(result.rawImage, img, cv::Size(128, 64+32));
 
             //Calculate frame rate
             now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
@@ -46,7 +48,7 @@ int main(void)
     lfr.startLoop();
     
     for(int finished = false; finished != 'q';){
-        finished = std::tolower(cv::waitKey(66));
+        finished = std::tolower(cv::waitKey(1));
         std::unique_lock<std::mutex> lock(mutex);
         if(!img.empty()){
             cv::imshow("frame", img);
diff --git a/AutonomousMode/lfr.cpp b/AutonomousMode/lfr.cpp
index 28feaa6..d445464 100644
--- a/AutonomousMode/lfr.cpp
+++ b/AutonomousMode/lfr.cpp
@@ -76,7 +76,11 @@ void LFR::createThread()
                 }
                 catch(std::exception const &ex)
                 {
-                    cb(ex);
+                    if(!cb(ex))
+                    {
+                        //callback returned false -> exception not handled -> exit
+                        exit(EXIT_FAILURE);
+                    }
                 }
 
                 //Invoke the callback method (ListenerPair second -> ListenerCallback)