diff --git a/corelib/src/camera/CameraDepthAI.cpp b/corelib/src/camera/CameraDepthAI.cpp
index beb36ce755..3a0568b916 100644
--- a/corelib/src/camera/CameraDepthAI.cpp
+++ b/corelib/src/camera/CameraDepthAI.cpp
@@ -320,7 +320,11 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 	stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
 	stereo->initialConfig.setLeftRightCheck(true);
 	stereo->initialConfig.setLeftRightCheckThreshold(5);
-	stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5);
+	stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
+	auto config = stereo->initialConfig.get();
+	config.censusTransform.kernelSize = dai::StereoDepthConfig::CensusTransform::KernelSize::KERNEL_7x9;
+	config.censusTransform.kernelMask = 0X2AA00AA805540155;
+	stereo->initialConfig.set(config);
 
 	// Link plugins CAM -> STEREO -> XLINK
 	monoLeft->out.link(stereo->left);
@@ -345,7 +349,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 	{
 		stereo->setSubpixel(true);
 		stereo->setSubpixelFractionalBits(4);
-		auto config = stereo->initialConfig.get();
+		config = stereo->initialConfig.get();
 		config.costMatching.disparityWidth = dai::StereoDepthConfig::CostMatching::DisparityWidth::DISPARITY_64;
 		config.costMatching.enableCompanding = true;
 		stereo->initialConfig.set(config);
@@ -358,8 +362,8 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 
 	if(imuPublished_)
 	{
-		// enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 200 hz rate
-		imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 200);
+		// enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 100 hz rate
+		imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 100);
 		// above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
 		imu->setBatchReportThreshold(1);
 		// maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it