diff --git a/slam/dataset.cpp b/slam/dataset.cpp
index 9256453ea..6041abe2f 100644
--- a/slam/dataset.cpp
+++ b/slam/dataset.cpp
@@ -55,7 +55,8 @@ pair<string, boost::optional<SharedDiagonal> > dataset(const string& dataset,  c
 	if (set == "3") return make_pair(path + "borg/CitySLAM/data/TORO/w3-odom.graph", identity);
 	if (set == "100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-odom.graph", identity);
 	if (set == "10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-odom.graph", identity);
-	if (set == "10K2") return make_pair(path + "borg/hogman/data/2D/w10000.graph", identity);
+	if (set == "10K2") return make_pair(path + "borg/hogman/data/2D/w10000.graph",
+			noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05)));
 	if (set == "Eiffel100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-Eiffel.graph", identity);
 	if (set == "Eiffel10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-Eiffel.graph", identity);
 	if (set == "olson") return make_pair(path + "borg/CitySLAM/data/Olson/olson06icra.graph", null_model);