diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index fc923797005a5a5efd5e01c1e88473b6b595d82e..cfdcf4a711ac5a4bd065d1a341b86d1a3e8d7869 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -147,6 +147,7 @@ void ProcessorTrackerFeature::establishFactors()
     if (origin_ptr_ == last_ptr_)
         return;
 
+    track_matrix_.markKeyframe(last_ptr_);
     TrackMatches matches_origin_last = track_matrix_.matches(origin_ptr_, last_ptr_);
 
     for (auto const & pair_trkid_pair : matches_origin_last)