diff --git a/GPU_version/vio/src/initialization.cpp b/GPU_version/vio/src/initialization.cpp
index a881478..f24bb04 100644
--- a/GPU_version/vio/src/initialization.cpp
+++ b/GPU_version/vio/src/initialization.cpp
@@ -56,12 +56,12 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
       frame_ref_->cam_->errorMultiplier2(), Config::poseOptimThresh(),
       inliers_, xyz_in_cur_, T_cur_from_ref_);
 
-  if(inliers_.size() < Config::initMinInliers() && disparity < 80)
+  if(inliers_.size() < Config::initMinInliers() && disparity < 150)
   {
     SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
        <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required.");
       return NO_KEYFRAME;
-  }else if(inliers_.size() < Config::initMinInliers() && disparity > 80){
+  }else if(inliers_.size() < Config::initMinInliers() && disparity > 150){
       SVO_INFO_STREAM("Init Homography RANSAC (inlier) is: "<<inliers_.size()<<" While: "<<Config::initMinInliers()<<" inliers minimum required.\n"
                        <<"Init: px average disparity is: "<<disparity<<" While: "<<Config::initMinDisparity()<<" minimum required. Reinitialized");
       return FAILURE;