diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp
index 09d35ccdf3fcc2eb75ced42a97da1d4844b798db..3877c722fd75ac1af83aab812cd42a4906a9d3f9 100644
--- a/src/processor/processor_loop_closure_icp.cpp
+++ b/src/processor/processor_loop_closure_icp.cpp
@@ -85,11 +85,8 @@ std::map<double,MatchLoopClosurePtr> ProcessorLoopClosureIcp::findLoopClosures(C
         // Frame can have more than one laser capture
         for (auto cap_ref : frm->getCapturesOfType<CaptureLaser2d>())
         {
-            auto cap_ref_laser = std::dynamic_pointer_cast<CaptureLaser2d>(cap_ref);
-            assert(cap_ref_laser != nullptr);
-
             // Match Scans
-            auto match = matchScans(cap_ref_laser, cap_laser);
+            auto match = matchScans(cap_ref, cap_laser);
 
             // IT'S A MATCH!
             if (match != nullptr)