diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index c8707c4..abec3aa 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -196,7 +196,7 @@ try:
 
 
     # Initialize particles
-    num_particles = 2000
+    num_particles = 10000
     particles = initialize_particles(num_particles)
 
     est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose