diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 70b49c5..abd1e3c 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -46,5 +46,6 @@ SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
 SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
+SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
 
 return options
diff --git a/cartographer_ros/configuration_files/backpack_3d_localization.lua b/cartographer_ros/configuration_files/backpack_3d_localization.lua
index bd4469d..0b20dbb 100644
--- a/cartographer_ros/configuration_files/backpack_3d_localization.lua
+++ b/cartographer_ros/configuration_files/backpack_3d_localization.lua
@@ -17,7 +17,4 @@ include "backpack_3d.lua"
 TRAJECTORY_BUILDER.pure_localization = true
 SPARSE_POSE_GRAPH.optimize_every_n_scans = 100
 
--- 3D localization is not working that well, so we choose a low min score.
-SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.45
-
 return options