diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index 15a388fb2674b3cb82683ab0cda336c252d1afe1..95f249f5ce921893e2ba5f04ebc65e4d485ed931 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -179,7 +179,7 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
  */
 bool ProcessorOdomIcp3d::voteForKeyFrame() const
 {
-    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->max_time_span)
+    if (last_ptr_->getTimeStamp() - origin_ptr_->getTimeStamp() > params_odom_icp_->max_time_span)
     {
         return true;
     }