diff --git a/wpb_home_behaviors/src/wpb_home_grab_server.cpp b/wpb_home_behaviors/src/wpb_home_grab_server.cpp
index 5746816..09effd4 100644
--- a/wpb_home_behaviors/src/wpb_home_grab_server.cpp
+++ b/wpb_home_behaviors/src/wpb_home_grab_server.cpp
@@ -205,11 +205,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
         pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
         pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
         segmentation.setInputCloud(cloud_source_ptr);
-        segmentation.setModelType(pcl::SACMODEL_PLANE);
+        segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
         segmentation.setMethodType(pcl::SAC_RANSAC);
         segmentation.setDistanceThreshold(0.005);
         segmentation.setOptimizeCoefficients(true);
-        Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
+        Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
         segmentation.setAxis(axis);
         segmentation.setEpsAngle(  10.0f * (M_PI/180.0f) );
         pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);
diff --git a/wpb_home_behaviors/src/wpb_home_objects_3d.cpp b/wpb_home_behaviors/src/wpb_home_objects_3d.cpp
index 447df2e..478b5a9 100644
--- a/wpb_home_behaviors/src/wpb_home_objects_3d.cpp
+++ b/wpb_home_behaviors/src/wpb_home_objects_3d.cpp
@@ -153,11 +153,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
     pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
     pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
     segmentation.setInputCloud(cloud_source_ptr);
-    segmentation.setModelType(pcl::SACMODEL_PLANE);
+    segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
     segmentation.setMethodType(pcl::SAC_RANSAC);
     segmentation.setDistanceThreshold(0.005);
     segmentation.setOptimizeCoefficients(true);
-    Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
+    Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
     segmentation.setAxis(axis);
     segmentation.setEpsAngle(  10.0f * (M_PI/180.0f) );
     pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);
diff --git a/wpb_home_tutorials/src/wpb_home_obj_detect.cpp b/wpb_home_tutorials/src/wpb_home_obj_detect.cpp
index bb28b88..4fe0f55 100644
--- a/wpb_home_tutorials/src/wpb_home_obj_detect.cpp
+++ b/wpb_home_tutorials/src/wpb_home_obj_detect.cpp
@@ -147,11 +147,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
     pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
     pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
     segmentation.setInputCloud(cloud_source_ptr);
-    segmentation.setModelType(pcl::SACMODEL_PLANE);
+    segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
     segmentation.setMethodType(pcl::SAC_RANSAC);
     segmentation.setDistanceThreshold(0.005);
     segmentation.setOptimizeCoefficients(true);
-    Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
+    Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
     segmentation.setAxis(axis);
     segmentation.setEpsAngle(  10.0f * (M_PI/180.0f) );
     pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);