diff --git a/src/processor/processor_tracker_landmark_object.cpp b/src/processor/processor_tracker_landmark_object.cpp
index b095df49b5583a1fb198c20f9426f89feeebb4d7..852e6251628cf99e0cf3c4ef09ee0af9ee47e87e 100644
--- a/src/processor/processor_tracker_landmark_object.cpp
+++ b/src/processor/processor_tracker_landmark_object.cpp
@@ -225,10 +225,9 @@ unsigned int ProcessorTrackerLandmarkObject::firstLmkMatching(const LandmarkBase
     }
 
     // world to rob
-    Eigen::Isometry3d w_M_r = getw_M_r();
-
+    Eigen::Isometry3d w_M_r = posevec_to_isometry(getLast()->getFrame()->getStateVector());
     // rob to sensor
-    Eigen::Isometry3d r_M_c = getr_M_c();
+    Eigen::Isometry3d r_M_c = posevec_to_isometry(getSensor()->getStateVector());
 
     for (auto feat : detections_incoming_)
     {