diff --git a/config/localmapping/voxel.yaml b/config/localmapping/voxel.yaml
index 877ed8a..6bb7f3c 100644
--- a/config/localmapping/voxel.yaml
+++ b/config/localmapping/voxel.yaml
@@ -2,9 +2,9 @@ mapper_type: voxel
 ema: 0.5 #higher->use recent more
 n_features: -1
 metadata:
-    origin: [-50., -50., -10.]
-    length: [100., 100., 20.]
-    resolution: [0.4, 0.4, 0.1]
+    origin: [-20., -20., -5.]
+    length: [40., 40., 10.]
+    resolution: [0.1, 0.1, 0.05]
 
 raytracer:
     type: frustum