The file responsible for generating the sidebar cart is mini-cart.php and is located in
woocommerce/templates/cart/mini-cart.php
What you do is you copy that file and paste it into
YOURTHEMEFOLDER/woocommerce/cart/mini-cart.php
Open up that file and edit line 40 where it contains
<?php echo $_product->get_image(); ?>`
Change that to
<?php echo $_product->get_image( array( 50, 80 ) ); ?>
50 is the width and 80 is the height. Change it to whatever size you want.
After you have done that make sure to clear your cache and restart your browser as sometimes the mini cart gets cached.
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