diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index ca6130465acdac333330b3c97c656ac12a038778..3fe55da10b1fb5d9d303d5e2b1862085f42c815f 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -37,10 +37,10 @@ SensorImu2d::SensorImu2d(const Eigen::VectorXd& _extrinsics, const ParamsSensorI
                  std::make_shared<StatePoint2d>(_extrinsics.head(2), true, false),
                  std::make_shared<StateAngle>(_extrinsics(2), true, false),
                  std::make_shared<StateParams3>(Vector3d::Zero(3), false),
-                 (Eigen::Vector3d() << _params.a_noise, _params.a_noise, _params.w_noise).finished(),
+                 Eigen::Vector3d(_params.a_noise, _params.a_noise, _params.w_noise),
                  false,
                  false,
-                 true),
+                 false),
       a_noise(_params.a_noise),
       w_noise(_params.w_noise),
       ab_initial_stdev(_params.ab_initial_stdev),