From 29ed498aa0615ec952718566405b469892ad2eee Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Thu, 8 Aug 2019 14:37:07 +0200
Subject: [PATCH] new param

---
 src/vi_estimator/keypoint_vio.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp
index b010a2c..5b7ac4c 100644
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@@ -55,7 +55,7 @@ KeypointVioEstimator::KeypointVioEstimator(
       initialized(false),
       config(config),
       lambda(1e-6),
-      min_lambda(1e-12),
+      min_lambda(1e-14),
       max_lambda(100),
       lambda_vee(2) {
   this->obs_std_dev = config.vio_obs_std_dev;