diff --git a/src/config/kitti_config.py b/src/config/kitti_config.py
index 4f7dcc3..7a216c7 100644
--- a/src/config/kitti_config.py
+++ b/src/config/kitti_config.py
@@ -33,7 +33,8 @@
 BEV_WIDTH = 608  # across y axis -25m ~ 25m
 BEV_HEIGHT = 608  # across x axis 0m ~ 50m
 
-DISCRETIZATION = (boundary["maxX"] - boundary["minX"]) / BEV_HEIGHT
+DISCRETIZATION_X = (boundary["maxX"] - boundary["minX"]) / BEV_HEIGHT
+DISCRETIZATION_Y = (boundary["maxY"] - boundary["minY"]) / BEV_WIDTH
 
 colors = [[0, 255, 255], [0, 0, 255], [255, 0, 0]]
 
diff --git a/src/data_process/kitti_bev_utils.py b/src/data_process/kitti_bev_utils.py
index 1585400..8ec41d6 100644
--- a/src/data_process/kitti_bev_utils.py
+++ b/src/data_process/kitti_bev_utils.py
@@ -34,14 +34,18 @@ def removePoints(PointCloud, BoundaryCond):
     return PointCloud
 
 
-def makeBVFeature(PointCloud_, Discretization, bc):
+def makeBVFeature(PointCloud_, Discretization_X, Discretization_Y, bc):
     Height = cnf.BEV_HEIGHT + 1
     Width = cnf.BEV_WIDTH + 1
 
     # Discretize Feature Map
     PointCloud = np.copy(PointCloud_)
-    PointCloud[:, 0] = np.int_(np.floor(PointCloud[:, 0] / Discretization))
-    PointCloud[:, 1] = np.int_(np.floor(PointCloud[:, 1] / Discretization) + Width / 2)
+    
+    offset_x = np.int_(np.floor(bc['minX'] / Discretization_X))
+    offset_y = np.int_(np.floor(bc['minY'] / Discretization_Y))
+    
+    PointCloud[:, 0] = np.int_(np.floor(PointCloud[:, 0] / Discretization_X)) - offset_x
+    PointCloud[:, 1] = np.int_(np.floor(PointCloud[:, 1] / Discretization_Y)) - offset_y
 
     # sort-3times
     indices = np.lexsort((-PointCloud[:, 2], PointCloud[:, 1], PointCloud[:, 0]))
diff --git a/src/data_process/kitti_dataset.py b/src/data_process/kitti_dataset.py
index 218ea1c..8debed2 100644
--- a/src/data_process/kitti_dataset.py
+++ b/src/data_process/kitti_dataset.py
@@ -79,7 +79,7 @@ def load_img_only(self, index):
         sample_id = int(self.sample_id_list[index])
         lidarData = self.get_lidar(sample_id)
         b = kitti_bev_utils.removePoints(lidarData, cnf.boundary)
-        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION, cnf.boundary)
+        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION_X, cnf.DISCRETIZATION_Y, cnf.boundary)
         img_file = os.path.join(self.image_dir, '{:06d}.png'.format(sample_id))
 
         return img_file, rgb_map
@@ -103,7 +103,7 @@ def load_img_with_targets(self, index):
             lidarData, labels[:, 1:] = self.lidar_transforms(lidarData, labels[:, 1:])
 
         b = kitti_bev_utils.removePoints(lidarData, cnf.boundary)
-        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION, cnf.boundary)
+        rgb_map = kitti_bev_utils.makeBVFeature(b, cnf.DISCRETIZATION_X, cnf.DISCRETIZATION_Y, cnf.boundary)
         target = kitti_bev_utils.build_yolo_target(labels)
         img_file = os.path.join(self.image_dir, '{:06d}.png'.format(sample_id))