diff --git a/src/processor/processor_bundle_adjustment.cpp b/src/processor/processor_bundle_adjustment.cpp
index cf879bebc60659ac2088c0fa9035b390c5ccd43a..1734917fc5c4b990fa4e65aa181e4e55e5ea96c4 100644
--- a/src/processor/processor_bundle_adjustment.cpp
+++ b/src/processor/processor_bundle_adjustment.cpp
@@ -62,8 +62,7 @@ void ProcessorBundleAdjustment::configure(SensorBasePtr _sensor)
 {
     //TODO: Implement if needed
 	//Initialize camera sensor pointer
-	camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
-    assert(camera != nullptr && "Sensor is not of type Camera");
+	camera = std::static_pointer_cast<SensorCamera>(_sensor);
 
 }
 
diff --git a/src/processor/processor_tracker_feature_image.cpp b/src/processor/processor_tracker_feature_image.cpp
index 9a498f19fac81f9b8d6bb3ce1b45505ae2457f4b..b6228381da05456842abfe456be0b36933c46827 100644
--- a/src/processor/processor_tracker_feature_image.cpp
+++ b/src/processor/processor_tracker_feature_image.cpp
@@ -44,8 +44,7 @@ ProcessorTrackerFeatureImage::~ProcessorTrackerFeatureImage()
 
 void ProcessorTrackerFeatureImage::configure(SensorBasePtr _sensor)
 {
-    SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
-    assert(camera != nullptr && "Sensor is not of type Camera");
+    SensorCameraPtr camera = std::static_pointer_cast<SensorCamera>(_sensor);
 
     image_.width_ = camera->getImgWidth();
     image_.height_ = camera->getImgHeight();
diff --git a/src/processor/processor_tracker_feature_trifocal.cpp b/src/processor/processor_tracker_feature_trifocal.cpp
index 6535924d01e4da90d0c544c455957601e486e5fc..34daf3b6285184675697e7ae98ac55cc572e7659 100644
--- a/src/processor/processor_tracker_feature_trifocal.cpp
+++ b/src/processor/processor_tracker_feature_trifocal.cpp
@@ -448,8 +448,6 @@ void ProcessorTrackerFeatureTrifocal::setParams(const ParamsProcessorTrackerFeat
 
 void ProcessorTrackerFeatureTrifocal::configure(SensorBasePtr _sensor)
 {
-    SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
-    assert(camera != nullptr && "Sensor is not of type Camera");
     _sensor->setNoiseStd(Vector2d::Ones() * params_tracker_feature_trifocal_->pixel_noise_std);
 }
 
diff --git a/src/processor/processor_tracker_landmark_image.cpp b/src/processor/processor_tracker_landmark_image.cpp
index 0c5b2896debd832a0d1bd04621c092932f3a4a6e..b490a66b40f50b68ede4f00419db373db62bbe8d 100644
--- a/src/processor/processor_tracker_landmark_image.cpp
+++ b/src/processor/processor_tracker_landmark_image.cpp
@@ -58,10 +58,6 @@ ProcessorTrackerLandmarkImage::~ProcessorTrackerLandmarkImage()
 
 void ProcessorTrackerLandmarkImage::configure(SensorBasePtr _sensor)
 {
-
-    auto sensor = std::dynamic_pointer_cast<SensorCamera>(_sensor);
-    assert(sensor != nullptr && "Sensor is not of type Camera");
-
     SensorCameraPtr camera(std::static_pointer_cast<SensorCamera>(_sensor));
     image_.width_ = camera->getImgWidth();
     image_.height_ = camera->getImgHeight();