diff --git a/src/vi_estimator/keypoint_vio.cpp b/src/vi_estimator/keypoint_vio.cpp
index 65b22b2..b010a2c 100644
--- a/src/vi_estimator/keypoint_vio.cpp
+++ b/src/vi_estimator/keypoint_vio.cpp
@@ -56,7 +56,7 @@ KeypointVioEstimator::KeypointVioEstimator(
       config(config),
       lambda(1e-6),
       min_lambda(1e-12),
-      max_lambda(10),
+      max_lambda(100),
       lambda_vee(2) {
   this->obs_std_dev = config.vio_obs_std_dev;
   this->huber_thresh = config.vio_obs_huber_thresh;