diff --git a/CHANGELOG.md b/CHANGELOG.md
index d20670329..465e2ca36 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,6 @@
 ## Latest
 
+  * Fixed bug causing the `world.ground_projection()` function to return an incorrect location at large maps.
   * Added failure state to vehicles, which can be retrieved by using `Vehicle.get_failure_state()`. Only Rollover failure state is currently supported.
   * Fixed bug causing the TM to block the simulation when another client teleported a vehicle with no physics.
   * Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RayTracer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RayTracer.cpp
index 64bdd0880..7b6e9c0fb 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RayTracer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/RayTracer.cpp
@@ -30,7 +30,15 @@ std::vector<crp::LabelledPoint> URayTracer::CastRay(
     UPrimitiveComponent* Component = Hit.GetComponent();
     crp::CityObjectLabel ComponentTag =
         ATagger::GetTagOfTaggedComponent(*Component);
-    result.emplace_back(crp::LabelledPoint(Hit.Location, ComponentTag));
+
+    FVector UELocation = Hit.Location;
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(World);
+    ALargeMapManager* LargeMap = GameMode->GetLMManager();
+    if (LargeMap)
+    {
+      UELocation = LargeMap->LocalToGlobalLocation(UELocation);
+    }
+    result.emplace_back(crp::LabelledPoint(UELocation, ComponentTag));
   }
   return result;
 }
@@ -52,7 +60,15 @@ std::pair<bool, crp::LabelledPoint> URayTracer::ProjectPoint(
     UPrimitiveComponent* Component = Hit.GetComponent();
     crp::CityObjectLabel ComponentTag =
         ATagger::GetTagOfTaggedComponent(*Component);
-    return std::make_pair(bDidHit, crp::LabelledPoint(Hit.Location, ComponentTag));
+
+    FVector UELocation = Hit.Location;
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(World);
+    ALargeMapManager* LargeMap = GameMode->GetLMManager();
+    if (LargeMap)
+    {
+      UELocation = LargeMap->LocalToGlobalLocation(UELocation);
+    }
+    return std::make_pair(bDidHit, crp::LabelledPoint(UELocation, ComponentTag));
   }
   return std::make_pair(bDidHit, crp::LabelledPoint(FVector(0.0f,0.0f,0.0f), crp::CityObjectLabel::None));
 }