diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
index dd576c839cbcd7426e6577c1a3f3f4ed469f0c8a..941b84610845f31cfed813394d85c923d2a3211b 100644
--- a/demos/sensor_imu.yaml
+++ b/demos/sensor_imu.yaml
@@ -1,6 +1,6 @@
 type: "SensorIMU"             # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 
-motion variances: 
+motion_variances: 
     a_noise:                0.053     # standard deviation of Acceleration noise (same for all the axis) in m/s2
     w_noise:                0.0011    # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
     ab_initial_stdev:       0.800     # m/s2    - initial bias 
diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_IMU_yaml.cpp
index e4106680f44c7b94dbd1aa6af206ac908d621cf8..ab67315b6e3c09bd431b0f88c3bcfb62bdc29078 100644
--- a/src/yaml/sensor_IMU_yaml.cpp
+++ b/src/yaml/sensor_IMU_yaml.cpp
@@ -27,8 +27,8 @@ static IntrinsicsBasePtr createIntrinsicsIMU(const std::string & _filename_dot_y
 
     if (config["type"].as<std::string>() == "SensorIMU")
     {
-        YAML::Node variances        = config["motion variances"];
-        YAML::Node kf_vote          = config["keyframe vote"];
+        YAML::Node variances        = config["motion_variances"];
+        YAML::Node kf_vote          = config["keyframe_vote"];
 
         IntrinsicsIMUPtr params = std::make_shared<IntrinsicsIMU>();