diff --git a/src/feature_imu.cpp b/src/feature_imu.cpp
index aaba65b97d6fbeb63ac88e81617905eb43153c49..08db02f5ffa162e59454e3bac6b9ed92f24c6c63 100644
--- a/src/feature_imu.cpp
+++ b/src/feature_imu.cpp
@@ -13,8 +13,8 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen:
     FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
     dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.tail<3>()), dq_preint_(_delta_preintegrated.segment<4>(3)),
     acc_bias_preint_(_acc_bias), gyro_bias_preint_(_gyro_bias),
-    dDp_dab_(_dD_db_jacobians.block(3,3,0,0)), dDv_dab_(_dD_db_jacobians.block(3,3,6,0)),
-    dDp_dwb_(_dD_db_jacobians.block(3,3,0,3)), dDv_dwb_(_dD_db_jacobians.block(3,3,6,3)), dDq_dwb_(_dD_db_jacobians.block(3,3,3,3))
+    dDp_dab_(_dD_db_jacobians.block(0,0,3,3)), dDv_dab_(_dD_db_jacobians.block(6,0,3,3)),
+    dDp_dwb_(_dD_db_jacobians.block(0,3,3,3)), dDv_dwb_(_dD_db_jacobians.block(6,3,3,3)), dDq_dwb_(_dD_db_jacobians.block(3,3,3,3))
 {
     //std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl;
 }
@@ -33,10 +33,10 @@ FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance)
     acc_bias_preint_ = std::static_pointer_cast<wolf::FrameIMU>(_cap_imu_ptr->getFramePtr())->getAccBiasPtr()->getVector();
     gyro_bias_preint_ = std::static_pointer_cast<wolf::FrameIMU>(_cap_imu_ptr->getFramePtr())->getGyroBiasPtr()->getVector();
 
-    dDp_dab_ = _dD_db_jacobians.block(3,3,0,0);
-    dDv_dab_ = _dD_db_jacobians.block(3,3,6,0);
-    dDp_dwb_ = _dD_db_jacobians.block(3,3,0,3);
-    dDv_dwb_ = _dD_db_jacobians.block(3,3,6,3); 
+    dDp_dab_ = _dD_db_jacobians.block(0,0,3,3);
+    dDv_dab_ = _dD_db_jacobians.block(6,0,3,3);
+    dDp_dwb_ = _dD_db_jacobians.block(0,3,3,3);
+    dDv_dwb_ = _dD_db_jacobians.block(6,3,3,3); 
     dDq_dwb_ = _dD_db_jacobians.block(3,3,3,3);
 }