diff --git a/robot/robot.py b/robot/robot.py
index 652f105..f57e4b6 100644
--- a/robot/robot.py
+++ b/robot/robot.py
@@ -85,7 +85,7 @@ class Robot(object):
 
     def _init_camera(self):
         def gstreamer_pipeline(
-            capture_width=1280, capture_height=720, framerate=30):
+            capture_width=1024, capture_height=720, framerate=30):
             """
             Utility function for setting parameters for the gstreamer camera
             pipeline
diff --git a/selflocalization/camera.py b/selflocalization/camera.py
index a9dcbcb..5c5c764 100644
--- a/selflocalization/camera.py
+++ b/selflocalization/camera.py
@@ -114,13 +114,13 @@ class Camera(object):
 
         # Set camera calibration info
         if robottype == 'arlo':
-            self.imageSize = (1280, 720)
+            self.imageSize = (1024, 720)
             #self.intrinsic_matrix = np.asarray([ 7.1305391967046853e+02, 0., 3.1172820723774367e+02, 0.,
             #       7.0564929862291285e+02, 2.5634470978315028e+02, 0., 0., 1. ], dtype = np.float64)
             #self.intrinsic_matrix = np.asarray([ 6.0727040957659040e+02, 0., 3.0757300398967601e+02, 0.,
             #       6.0768864690145904e+02, 2.8935674612358201e+02, 0., 0., 1. ], dtype = np.float64)
-            self.intrinsic_matrix = np.asarray([500, 0., self.imageSize[0] / 2.0, 0.,
-                   500, self.imageSize[1] / 2.0, 0., 0., 1.], dtype = np.float64)
+            self.intrinsic_matrix = np.asarray([1691, 0., self.imageSize[0] / 2.0, 0.,
+                   1691, self.imageSize[1] / 2.0, 0., 0., 1.], dtype = np.float64)
             self.intrinsic_matrix.shape = (3, 3)
             #self.distortion_coeffs = np.asarray([ 1.1911006165076067e-01, -1.0003366233413549e+00,
             #       1.9287903277399834e-02, -2.3728201444308114e-03, -2.8137265581326476e-01 ], dtype = np.float64)