diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index b72182fcdda85f359e9da9f3a67a52b0c6ccd4f3..2446e1d7ecebbecfb5b2d165e5aaa599bc143b72 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -268,9 +268,9 @@ void ProcessorImu::bootstrap()
             if (t_current - first_capture->getTimeStamp() >= params_motion_Imu_->bootstrap_averaging_length)
             {
                 // get initial IMU frame 's' expressed in local world frame 'l'
-                Map<const Quaterniond> q_l_r(first_capture->getFrame()->getStateVector("O").data());
-                Map<const Quaterniond> q_r_s(first_capture->getSensor()->getStateVector("O").data());
-                const auto&            q_l_s = q_l_r * q_r_s;
+                Quaterniond q_l_r; q_l_r.coeffs() = first_capture->getFrame()->getO()->getState();
+                Quaterniond q_r_s; q_r_s.coeffs() = first_capture->getSensor()->getO()->getState();
+                const auto& q_l_s = q_l_r * q_r_s;
 
                 // Compute total integrated delta during bootstrap period
                 VectorXd delta_int = bootstrapDelta();
@@ -317,9 +317,9 @@ void ProcessorImu::bootstrap()
             if (t_current - first_capture->getTimeStamp() >= params_motion_Imu_->bootstrap_averaging_length)
             {
                 // get initial IMU frame 's' expressed in local world frame 'l'
-                Map<const Quaterniond> q_l_r(first_capture->getFrame()->getStateVector("O").data());
-                Map<const Quaterniond> q_r_s(first_capture->getSensor()->getStateVector("O").data());
-                const auto&            q_l_s = q_l_r * q_r_s;
+                Quaterniond q_l_r; q_l_r.coeffs() = first_capture->getFrame()->getO()->getState();
+                Quaterniond q_r_s; q_r_s.coeffs() = first_capture->getSensor()->getO()->getState();
+                const auto& q_l_s = q_l_r * q_r_s;
 
                 // Compute total integrated delta during bootstrap period
                 VectorXd delta_int = bootstrapDelta();