diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index ee2e4a3e6e6d92a0ec3562e9fd24e58d2d347f99..70b46d44968869e60a2004102f6c65cbddf448f2 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -672,7 +672,7 @@ bool ProcessorVisualOdometry::filterWithEssential(const KeyPointsMap _mwkps_prev
 
         // use pixels 
         p2d_prev.push_back(_mwkps_prev.at(track.first).getCvPoint());
-        p2d_curr.push_back(_mwkps_curr.at(track.first).getCvPoint());
+        p2d_curr.push_back(_mwkps_curr.at(track.second).getCvPoint());
     }
 
     cv::Mat cvMask;