diff --git a/src/localization_pkg/config/rtabmap_mkmini.yaml b/src/localization_pkg/config/rtabmap_mkmini.yaml
index 910b31b..17d0bdf 100755
--- a/src/localization_pkg/config/rtabmap_mkmini.yaml
+++ b/src/localization_pkg/config/rtabmap_mkmini.yaml
@@ -68,7 +68,7 @@ rtabmap:
     Grid/MinClusterSize: "10"
     Grid/FlatObstacleDetected: "true"
 
-    RGBD/StartAtOrigin: "true"
+    RGBD/StartAtOrigin: "false"
     RGBD/LocalizationPriorError: "5.0"
     RGBD/LocalizationSmoothing: "false"
     Icp/GuessFromTf: "false"
@@ -93,4 +93,4 @@ rtabmap:
     Icp/Force4DoF: "true"
     Icp/CorrespondenceRatio: "0.02"
 
-    Odom/GuessMotion: "false"
\ No newline at end of file
+    Odom/GuessMotion: "false"