diff --git a/launch/msckf_vio_tinytum.launch b/launch/msckf_vio_tinytum.launch
index 5e5e3b3..28ae944 100644
--- a/launch/msckf_vio_tinytum.launch
+++ b/launch/msckf_vio_tinytum.launch
@@ -25,7 +25,7 @@
       <param name="PrintImages" value="false"/>
       <param name="GroundTruth" value="false"/>
 
-      <param name="patch_size_n" value="3"/>
+      <param name="patch_size_n" value="5"/>
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>