diff --git a/test/yaml/problem_odom_icp_3d.yaml b/test/yaml/problem_odom_icp_3d.yaml
index 0c2fdcc42eaf39aecdf5deac03eaafc30fcb7f7d..02f558aaaf334238f81bc4ffd033dfb4a3056a50 100644
--- a/test/yaml/problem_odom_icp_3d.yaml
+++ b/test/yaml/problem_odom_icp_3d.yaml
@@ -41,11 +41,11 @@ config:
     state_getter: true
     state_priority: 1
     pcl_downsample: true
-    pcl_downsample_voxel_size: 0.2
+    pcl_downsample_voxel_size: 0.05
     icp_algorithm: "icp_nl"                        # "icp", "icp_nl", "gicp"
     icp_max_iterations:  20
     icp_transformation_rotation_epsilon:  0.99    # this is cos(alpha)
-    icp_transformation_translation_epsilon: 1e-6  # this is translation squared
-    icp_max_correspondence_distance:  0.5
+    icp_transformation_translation_epsilon: 1e-9  # this is translation squared
+    icp_max_correspondence_distance:  0.05