diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp
index 5b7ac4c..c50c5dd 100644
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@@ -54,8 +54,8 @@ KeypointVioEstimator::KeypointVioEstimator(
       g(g),
       initialized(false),
       config(config),
-      lambda(1e-6),
-      min_lambda(1e-14),
+      lambda(1e-10),
+      min_lambda(1e-32),
       max_lambda(100),
       lambda_vee(2) {
   this->obs_std_dev = config.vio_obs_std_dev;