diff --git a/examples/rpslam.py b/examples/rpslam.py
index 5c5498e..b5c4aef 100755
--- a/examples/rpslam.py
+++ b/examples/rpslam.py
@@ -22,7 +22,7 @@ along with this code.  If not, see <http://www.gnu.org/licenses/>.
 MAP_SIZE_PIXELS         = 500
 MAP_SIZE_METERS         = 10
 LIDAR_DEVICE            = '/dev/ttyUSB0'
-MIN_SAMPLES             = 250
+MIN_SAMPLES             = 200
 
 from breezyslam.algorithms import RMHC_SLAM
 from breezyslam.sensors import RPLidarA1 as LaserModel