diff --git a/.cspell.json b/.cspell.json
index e5640a2..bd053c9 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -48,6 +48,8 @@
     "colcon",
     "costmap",
     "DCMAKE",
+    "downsample",
+    "downsampled",
     "Eigen",
     "GNUCXX",
     "gtest",
@@ -55,10 +57,12 @@
     "pkg",
     "pkgs",
     "pointcloud",
+    "RANSAC",
     "rclcpp",
     "rosdep",
     "rosdistro",
     "rosidl",
+    "SACMODEL",
     "schematypens",
     "urdf",
     "vcstool",