diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml
index 6a7b8df93399e7effbb2d21aa5f26c2f3b4ddfe9..bec1dc6fd2f12d08816d8758e3d917a45a68ceec 100644
--- a/config/adc_common/landmarks_loc/amcl_mapping.yaml
+++ b/config/adc_common/landmarks_loc/amcl_mapping.yaml
@@ -29,6 +29,8 @@ problem_frame_window: -1
 landmarks_candidates_filter_en: True
 landmark_mahalanobis_dist: 3.5
 landmarks_min_detections: 4
+landmarks_filter_orientation_en: True
+landmarks_orientation_th: 0.4
 
 sensor_sigma_r: 0.2
 sensor_sigma_th: 0.3
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
index 60161d6bf050aac2e8aba329c1ee258aec526da0..32048d0f7378db1bdca074c8d2ceb36a6718f9a6 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
@@ -29,6 +29,8 @@ problem_frame_window: -1
 landmarks_candidates_filter_en: True
 landmark_mahalanobis_dist: 3.5
 landmarks_min_detections: 4
+landmarks_filter_orientation_en: True
+landmarks_orientation_th: 0.4
 
 sensor_sigma_r: 0.2
 sensor_sigma_th: 0.3
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
index 31a37af4652214877c17b759cbd082048fc671f4..5ea41cfbbf4a486b40913081334e46373ce61f6c 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
@@ -29,6 +29,8 @@ problem_frame_window: -1
 landmarks_candidates_filter_en: True
 landmark_mahalanobis_dist: 3.5
 landmarks_min_detections: 4
+landmarks_filter_orientation_en: True
+landmarks_orientation_th: 0.4
 
 sensor_sigma_r: 0.2
 sensor_sigma_th: 0.3
diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml
index 3113674fa507840192961a7e274d0753e35b2c27..fa3e1e5362d7130ed18eb9030fd7dfff48eac957 100644
--- a/config/adc_common/landmarks_loc/localization.yaml
+++ b/config/adc_common/landmarks_loc/localization.yaml
@@ -29,6 +29,8 @@ problem_frame_window: 60
 landmarks_candidates_filter_en: True
 landmark_mahalanobis_dist: 3.5
 landmarks_min_detections: 4
+landmarks_filter_orientation_en: True
+landmarks_orientation_th: 0.4
 
 sensor_sigma_r: 0.2
 sensor_sigma_th: 0.3
diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml
index bbf1e443c7dcb4a707e01d6af11b1356bd7ebf2a..fdd87daf60a01658c6769744fbc3b5b4fcffa9c4 100644
--- a/config/adc_common/landmarks_loc/slam_mapping.yaml
+++ b/config/adc_common/landmarks_loc/slam_mapping.yaml
@@ -29,6 +29,8 @@ problem_frame_window: -1
 landmarks_candidates_filter_en: True
 landmark_mahalanobis_dist: 3.5
 landmarks_min_detections: 4
+landmarks_filter_orientation_en: True
+landmarks_orientation_th: 0.4
 
 sensor_sigma_r: 0.2
 sensor_sigma_th: 0.3