diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index 6ea8024a462b5db3fc583f7dee1e10504b2a4bfa..211bd865243dc7126dc062b392583bfd95a8066e 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -24,20 +24,16 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
 {
     YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
 
-    WOLF_TRACE("");
     if (config["type"].as<std::string>() == "ODOM 3D")
     {
-        WOLF_TRACE("");
-        YAML::Node kf_vote = config["keyframe_vote"];
-        WOLF_TRACE("");
 
         ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
 
         params->time_tolerance      = config["time_tolerance"]      .as<Scalar>();
-        params->max_time_span       = kf_vote["max_time_span"]      .as<Scalar>();
-        params->max_buff_length     = kf_vote["max_buff_length"]    .as<SizeEigen  >();
-        params->dist_traveled       = kf_vote["dist_traveled"]      .as<Scalar>();
-        params->angle_turned        = kf_vote["angle_turned"]       .as<Scalar>();
+        params->max_time_span       = config["max_time_span"]      .as<Scalar>();
+        params->max_buff_length     = config["max_buff_length"]    .as<SizeEigen  >();
+        params->dist_traveled       = config["dist_traveled"]      .as<Scalar>();
+        params->angle_turned        = config["angle_turned"]       .as<Scalar>();
 
         return params;
     }
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index 623b03b3acf05fc9484b95182ee74b6a552e6eec..803963c71565d23c45619c414aa93881a7bcd737 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -26,15 +26,15 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do
 
     if (config["type"].as<std::string>() == "ODOM 3D")
     {
-        YAML::Node variances = config["motion_variances"];
+//        YAML::Node variances = config["motion_variances"];
 
         IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
 
-        params->k_disp_to_disp   = variances["k_disp_to_disp"] .as<Scalar>();
-        params->k_disp_to_rot    = variances["k_disp_to_rot"]  .as<Scalar>();
-        params->k_rot_to_rot     = variances["k_rot_to_rot"]   .as<Scalar>();
-        params->min_disp_var     = variances["min_disp_var"] .as<Scalar>();
-        params->min_rot_var      = variances["min_rot_var"]  .as<Scalar>();
+        params->k_disp_to_disp   = config["k_disp_to_disp"] .as<Scalar>();
+        params->k_disp_to_rot    = config["k_disp_to_rot"]  .as<Scalar>();
+        params->k_rot_to_rot     = config["k_rot_to_rot"]   .as<Scalar>();
+        params->min_disp_var     = config["min_disp_var"] .as<Scalar>();
+        params->min_rot_var      = config["min_rot_var"]  .as<Scalar>();
 
         return params;
     }
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index f99f8edbefa98006c3d40d9f298dfb724dc8e04f..cdaf5367400bba2c140de09016d024ad29f3d61f 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -1,8 +1,8 @@
 type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
 time_tolerance:         0.01  # seconds
-keyframe_vote:
-    max_time_span:      0.2   # seconds
-    max_buff_length:    10    # motion deltas
-    dist_traveled:      0.5   # meters
-    angle_turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
+
+max_time_span:          0.2   # seconds
+max_buff_length:        10    # motion deltas
+dist_traveled:          0.5   # meters
+angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml
index 6a5424773897a00b5872ce0c07a2549bda40b5ee..d555856890c58947df326e514c5a60695cd49f6e 100644
--- a/test/yaml/sensor_odom_3D.yaml
+++ b/test/yaml/sensor_odom_3D.yaml
@@ -1,8 +1,8 @@
 type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
-motion_variances: 
-    k_disp_to_disp:   0.02  # m^2   / m
-    k_disp_to_rot:    0.02  # rad^2 / m
-    k_rot_to_rot:     0.01  # rad^2 / rad
-    min_disp_var:   0.01  # m^2
-    min_rot_var:    0.01  # rad^2
+
+k_disp_to_disp:   0.02  # m^2   / m
+k_disp_to_rot:    0.02  # rad^2 / m
+k_rot_to_rot:     0.01  # rad^2 / rad
+min_disp_var:   0.01  # m^2
+min_rot_var:    0.01  # rad^2