diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index e430256f357961da9c4b1d5e125bed28859b7eda..ee2e4a3e6e6d92a0ec3562e9fd24e58d2d347f99 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -349,7 +349,8 @@ void ProcessorVisualOdometry::establishFactors()
             WOLF_INFO("   NEW valid track \\o/")
             Track track_kf = track_matrix_.trackAtKeyframes(feat->trackId());
 
-            LandmarkBasePtr lmk = emplaceLandmarkTriangulation(feat_pi, track_kf);
+            // LandmarkBasePtr lmk = emplaceLandmarkTriangulation(feat_pi, track_kf);
+            LandmarkBasePtr lmk = emplaceLandmarkNaive(feat_pi);
             if (lmk == nullptr){
                 continue;
             }