diff --git a/test/yaml/params_problem_autosetup.yaml b/test/yaml/params_problem_autosetup.yaml
index c61eab58146a9a5917c1130a14e234afa08a01b6..019af3e3fc58f92cbd9c748a77af3c795795e168 100644
--- a/test/yaml/params_problem_autosetup.yaml
+++ b/test/yaml/params_problem_autosetup.yaml
@@ -26,6 +26,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_problem_autosetup_no_map.yaml b/test/yaml/params_problem_autosetup_no_map.yaml
index 6c5ed47c2efc2afc3ba960b075e60cea73b58a73..bdf94428a26b2d9868ec45bdb350114d393f3fb4 100644
--- a/test/yaml/params_problem_autosetup_no_map.yaml
+++ b/test/yaml/params_problem_autosetup_no_map.yaml
@@ -23,6 +23,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml
index 59aec3c70cee0e147e38dbfb9408c8879bc203e2..427f647e53339e2a36d37353b9980f3224bde249 100644
--- a/test/yaml/params_tree_manager1.yaml
+++ b/test/yaml/params_tree_manager1.yaml
@@ -29,6 +29,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml
index 419125468ba5155eba8f0f75c972a5d52b5dbcef..43eabb5e2e6065ceeb67df8f034a063da139580c 100644
--- a/test/yaml/params_tree_manager2.yaml
+++ b/test/yaml/params_tree_manager2.yaml
@@ -27,6 +27,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 61498d1b6c182a6ae95930047940c56bcc3ca4ae..d2ccb7f39d7a837e38011e7c302ab280d9332f16 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -27,6 +27,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index db0a176fce7534934e9a10da0c5f84a5ae431517..e8de39561466c88bf4a8534d97bfafc82c77fe8c 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -27,6 +27,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
index aed7a0c7e4da1313e261501c87e3748fb64cd2b5..eb33760b5fb3b3e6158a9fbd5f94f9f377e48c3a 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -31,6 +31,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
index d00b201f9d84f53cf0b332315cd7617f60a490a5..6ea39b80af64a6fe8cc27e6c406cd20698b0722f 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -25,6 +25,7 @@ config:
       k_rot_to_rot: 0.1 
       min_disp_var: 0.1 
       min_rot_var: 0.1
+      noise_std: [1,1]
       extrinsic:
         pose: [1,2,3,0,0,0,1]
   processors:
diff --git a/test/yaml/sensor_odom_3d.yaml b/test/yaml/sensor_odom_3d.yaml
index 8eb2b235011cb3cfe4f35b1f73da6344991af0da..c9dac99ec4a4d38a873bf2154847c155bf319da2 100644
--- a/test/yaml/sensor_odom_3d.yaml
+++ b/test/yaml/sensor_odom_3d.yaml
@@ -5,3 +5,5 @@ k_disp_to_rot:    0.02  # rad^2 / m
 k_rot_to_rot:     0.01  # rad^2 / rad
 min_disp_var:     0.01  # m^2
 min_rot_var:      0.01  # rad^2
+
+noise_std: [1,1]
\ No newline at end of file