diff --git a/cfg/IntensityFilter.cfg b/cfg/IntensityFilter.cfg
index b0811b07..190e3359 100755
--- a/cfg/IntensityFilter.cfg
+++ b/cfg/IntensityFilter.cfg
@@ -41,9 +41,9 @@ PACKAGE = "laser_filters"
 gen = ParameterGenerator()
 
 gen.add("lower_threshold", double_t, 0,
-        "Intensity values lower than this value will be filtered", 8000.0, 0, 100000.0)
+        "Intensity values lower equal than this value will be filtered. Use negative values for no lower bound filtering.", 8000.0, -1.0, 100000.0)
 gen.add("upper_threshold", double_t, 0,
-        "Intensity values greater than this value will be filtered", 100000.0, 0, 100000.0)
+        "Intensity values greater equal than this value will be filtered", 100000.0, 0, 100000.0)
 gen.add("invert", bool_t, 0, "A Boolean to invert the filter", False)
 
 gen.add("filter_override_range", bool_t, 0,
diff --git a/src/intensity_filter.cpp b/src/intensity_filter.cpp
index b35f1fe7..9ccb0ced 100644
--- a/src/intensity_filter.cpp
+++ b/src/intensity_filter.cpp
@@ -73,8 +73,8 @@ bool LaserScanIntensityFilter::update(const sensor_msgs::LaserScan& input_scan,
     float& range = filtered_scan.ranges[i];
     float& intensity = filtered_scan.intensities[i];
 
-    // Is this reading below our lower threshold?
-    // Is this reading above our upper threshold?
+    // Is this reading below or equal to our lower threshold?
+    // Is this reading above or equal to our upper threshold?
     bool filter = intensity <= config_.lower_threshold || intensity >= config_.upper_threshold;
     if (config_.invert)
     {