diff --git a/src/image-target/aframe.js b/src/image-target/aframe.js
index bbfbbb13..3ade3f91 100644
--- a/src/image-target/aframe.js
+++ b/src/image-target/aframe.js
@@ -53,6 +53,7 @@ AFRAME.registerSystem('mindar-image-system', {
       track.stop();
     });
     this.video.remove();
+    this.controller.dispose();
   },
 
   pause: function(keepVideo=false) {
@@ -229,6 +230,10 @@ AFRAME.registerComponent('mindar-image', {
         arSystem.start();
       });
     }
+  },  
+  remove: function () {
+    const arSystem = this.el.sceneEl.systems['mindar-image-system'];
+    arSystem.stop();
   }
 });
 
diff --git a/src/image-target/controller.js b/src/image-target/controller.js
index 91156cc9..b6bec947 100644
--- a/src/image-target/controller.js
+++ b/src/image-target/controller.js
@@ -110,6 +110,13 @@ class Controller {
     return {dimensions: dimensions, matchingDataList, trackingDataList};
   }
 
+  dispose() {
+    this.stopProcessVideo();
+    this.worker.postMessage({
+      type: "dispose"
+    });
+  }
+
   // warm up gpu - build kernels is slow
   dummyRun(input) {
     const inputT = this.inputLoader.loadInput(input);
diff --git a/src/image-target/controller.worker.js b/src/image-target/controller.worker.js
index eeadd63f..12d4ea8c 100644
--- a/src/image-target/controller.worker.js
+++ b/src/image-target/controller.worker.js
@@ -1,5 +1,5 @@
-import {Matcher} from './matching/matcher.js';
-import {Estimator} from './estimation/estimator.js';
+import { Matcher } from './matching/matcher.js';
+import { Estimator } from './estimation/estimator.js';
 
 let projectionTransform = null;
 let matchingDataList = null;
@@ -8,53 +8,64 @@ let matcher = null;
 let estimator = null;
 
 onmessage = (msg) => {
-  const {data} = msg;
-
-  if (data.type === 'setup') {
-    projectionTransform = data.projectionTransform;
-    matchingDataList = data.matchingDataList;
-    debugMode = data.debugMode;
-    matcher = new Matcher(data.inputWidth, data.inputHeight, debugMode);
-    estimator = new Estimator(data.projectionTransform);
-  }
-  else if (data.type === 'match') {
-    const interestedTargetIndexes = data.targetIndexes;
+  const { data } = msg;
+
+  switch (data.type) {
+    case "setup":
+      projectionTransform = data.projectionTransform;
+      matchingDataList = data.matchingDataList;
+      debugMode = data.debugMode;
+      matcher = new Matcher(data.inputWidth, data.inputHeight, debugMode);
+      estimator = new Estimator(data.projectionTransform);
+      break;
 
-    let matchedTargetIndex = -1;
-    let matchedModelViewTransform = null;
-    let matchedDebugExtra = null;
+    case "match":
+      const interestedTargetIndexes = data.targetIndexes;
 
-    for (let i = 0; i < interestedTargetIndexes.length; i++) {
-      const matchingIndex = interestedTargetIndexes[i];
+      let matchedTargetIndex = -1;
+      let matchedModelViewTransform = null;
+      let matchedDebugExtra = null;
 
-      const {keyframeIndex, screenCoords, worldCoords, debugExtra} = matcher.matchDetection(matchingDataList[matchingIndex], data.featurePoints);
-      matchedDebugExtra = debugExtra;
+      for (let i = 0; i < interestedTargetIndexes.length; i++) {
+        const matchingIndex = interestedTargetIndexes[i];
 
-      if (keyframeIndex !== -1) {
-	const modelViewTransform = estimator.estimate({screenCoords, worldCoords});
+        const { keyframeIndex, screenCoords, worldCoords, debugExtra } = matcher.matchDetection(matchingDataList[matchingIndex], data.featurePoints);
+        matchedDebugExtra = debugExtra;
 
-	if (modelViewTransform) {
-	  matchedTargetIndex = matchingIndex;
-	  matchedModelViewTransform = modelViewTransform;
-	}
-	break;
+        if (keyframeIndex !== -1) {
+          const modelViewTransform = estimator.estimate({ screenCoords, worldCoords });
+
+          if (modelViewTransform) {
+            matchedTargetIndex = matchingIndex;
+            matchedModelViewTransform = modelViewTransform;
+          }
+          break;
+        }
       }
-    }
-
-    postMessage({
-      type: 'matchDone',
-      targetIndex: matchedTargetIndex,
-      modelViewTransform: matchedModelViewTransform,
-      debugExtra: matchedDebugExtra
-    });
-  }
-  else if (data.type === 'trackUpdate') {
-    const {modelViewTransform, worldCoords, screenCoords} = data;
-    const finalModelViewTransform = estimator.refineEstimate({initialModelViewTransform: modelViewTransform, worldCoords, screenCoords});
-    postMessage({
-      type: 'trackUpdateDone',
-      modelViewTransform: finalModelViewTransform,
-    });
+
+      postMessage({
+        type: 'matchDone',
+        targetIndex: matchedTargetIndex,
+        modelViewTransform: matchedModelViewTransform,
+        debugExtra: matchedDebugExtra
+      });
+      break;
+
+    case 'trackUpdate':
+      const { modelViewTransform, worldCoords, screenCoords } = data;
+      const finalModelViewTransform = estimator.refineEstimate({ initialModelViewTransform: modelViewTransform, worldCoords, screenCoords });
+      postMessage({
+        type: 'trackUpdateDone',
+        modelViewTransform: finalModelViewTransform,
+      });
+      break;
+
+    case "dispose":
+      close();
+      break;
+
+    default:
+      throw new Error(`Invalid message type '${data.type}'`);
   }
 };