diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
index 77250d7..7896208 100644
--- a/cartographer_ros/configuration_files/revo_lds.lua
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -34,12 +34,18 @@ options = {
 
 MAP_BUILDER.use_trajectory_builder_2d = true
 
+TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
 TRAJECTORY_BUILDER_2D.min_range = 0.3
 TRAJECTORY_BUILDER_2D.max_range = 8.
 TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
 TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
+TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
 
 SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
+SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
+SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65
 
 return options