diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index b3f4b429b4678d39d2132fa48622354dadeb03f8..6ddba83bff346c70b027a955a75a96ebe2c0ce3f 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -234,7 +234,7 @@ void ProcessorVisualOdometry::preProcess()
             {
                 break;
             }
-            cv::Mat img_roi(img_incoming, rect_roi);  // no data copy -> no overhead
+            cv::Mat img_roi(img_last, rect_roi);  // no data copy -> no overhead
             std::vector<cv::KeyPoint> kps_roi;
             detector_->detect(img_roi, kps_roi);
             if (kps_roi.size() > 0){