diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15a8dc9ace99da7483746403cebc3a41760dcfeb..2c4eacec4547808ce5bf3b11d42b3dbf155a9270 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -262,10 +262,8 @@ SET(HDRS_CAPTURE
   include/base/capture/capture_pose.h
   include/base/capture/capture_void.h
   include/base/capture/capture_motion.h
-  include/base/capture/capture_GPS_fix.h
   include/base/capture/capture_odom_2D.h
   include/base/capture/capture_odom_3D.h
-  include/base/capture/capture_GPS_fix.h
   include/base/capture/capture_odom_2D.h
   include/base/capture/capture_odom_3D.h
   include/base/capture/capture_velocity.h
@@ -277,9 +275,6 @@ SET(HDRS_FACTOR
   include/base/factor/factor_corner_2D.h
   include/base/factor/factor_epipolar.h
   include/base/factor/factor_fix_bias.h
-  include/base/factor/factor_GPS_2D.h
-  include/base/factor/factor_GPS_pseudorange_3D.h
-  include/base/factor/factor_GPS_pseudorange_2D.h
   include/base/factor/factor_odom_2D.h
   include/base/factor/factor_odom_2D_analytic.h
   include/base/factor/factor_odom_3D.h
@@ -294,9 +289,6 @@ SET(HDRS_FACTOR
   include/base/factor/factor_diff_drive.h
   include/base/factor/factor_epipolar.h
   include/base/factor/factor_fix_bias.h
-  include/base/factor/factor_GPS_2D.h
-  include/base/factor/factor_GPS_pseudorange_3D.h
-  include/base/factor/factor_GPS_pseudorange_2D.h
   include/base/factor/factor_odom_2D.h
   include/base/factor/factor_odom_2D_analytic.h
   include/base/factor/factor_odom_3D.h
@@ -310,13 +302,9 @@ SET(HDRS_FACTOR
   )
 SET(HDRS_FEATURE
   include/base/feature/feature_corner_2D.h
-  include/base/feature/feature_GPS_fix.h
-  include/base/feature/feature_GPS_pseudorange.h
   include/base/feature/feature_odom_2D.h
   include/base/feature/feature_corner_2D.h
   include/base/feature/feature_diff_drive.h
-  include/base/feature/feature_GPS_fix.h
-  include/base/feature/feature_GPS_pseudorange.h
   include/base/feature/feature_odom_2D.h
   include/base/feature/feature_base.h
   include/base/feature/feature_match.h
@@ -358,12 +346,8 @@ SET(HDRS_PROCESSOR
 SET(HDRS_SENSOR
   include/base/sensor/sensor_base.h
   include/base/sensor/sensor_diff_drive.h
-  include/base/sensor/sensor_GPS.h
-  include/base/sensor/sensor_GPS_fix.h
   include/base/sensor/sensor_odom_2D.h
   include/base/sensor/sensor_odom_3D.h
-  include/base/sensor/sensor_GPS.h
-  include/base/sensor/sensor_GPS_fix.h
   include/base/sensor/sensor_odom_2D.h
   include/base/sensor/sensor_odom_3D.h
   include/base/sensor/sensor_factory.h
@@ -464,7 +448,6 @@ SET(SRCS_BASE
 SET(SRCS
   )
 SET(SRCS_CAPTURE
-  src/capture/capture_GPS_fix.cpp
   src/capture/capture_odom_2D.cpp
   src/capture/capture_odom_3D.cpp
   src/capture/capture_velocity.cpp
@@ -473,8 +456,6 @@ SET(SRCS_CAPTURE
 SET(SRCS_FEATURE
   src/feature/feature_corner_2D.cpp
   src/feature/feature_diff_drive.cpp
-  src/feature/feature_GPS_fix.cpp
-  src/feature/feature_GPS_pseudorange.cpp
   src/feature/feature_odom_2D.cpp
   )
 SET(SRCS_LANDMARK
@@ -494,8 +475,6 @@ SET(SRCS_PROCESSOR
   )
 SET(SRCS_SENSOR
   src/sensor/sensor_diff_drive.cpp
-  src/sensor/sensor_GPS.cpp
-  src/sensor/sensor_GPS_fix.cpp
   src/sensor/sensor_odom_2D.cpp
   src/sensor/sensor_odom_3D.cpp
   )
diff --git a/include/base/sensor/sensor_camera.h b/include/base/sensor/sensor_camera.h
deleted file mode 100644
index c5b8f4423661a0b4dc2e5dc00cd17bd3392455cb..0000000000000000000000000000000000000000
--- a/include/base/sensor/sensor_camera.h
+++ /dev/null
@@ -1,90 +0,0 @@
-#ifndef SENSOR_CAMERA_H
-#define SENSOR_CAMERA_H
-
-//wolf includes
-#include "base/sensor/sensor_base.h"
-
-namespace wolf
-{
-
-WOLF_STRUCT_PTR_TYPEDEFS(IntrinsicsCamera);
-/** Struct of intrinsic camera parameters
- */
-struct IntrinsicsCamera : public IntrinsicsBase
-{
-        unsigned int width;                     ///< Image width in pixels
-        unsigned int height;                    ///< Image height in pixels
-        Eigen::Vector4s pinhole_model_raw;      ///< k = [u_0, v_0, alpha_u, alpha_v]  vector of pinhole intrinsic parameters
-        Eigen::Vector4s pinhole_model_rectified;///< k = [u_0, v_0, alpha_u, alpha_v]  vector of pinhole intrinsic parameters
-        Eigen::VectorXs distortion;             ///< d = [d_1, d_2, d_3, ...] radial distortion coefficients
-
-        virtual ~IntrinsicsCamera() = default;
-};
-
-WOLF_PTR_TYPEDEFS(SensorCamera);
-/**Pin-hole camera sensor
- */
-class SensorCamera : public SensorBase
-{
-    public:
-
-        SensorCamera(const Eigen::VectorXs & _extrinsics, const IntrinsicsCamera& _intrinsics);
-        SensorCamera(const Eigen::VectorXs & _extrinsics, IntrinsicsCameraPtr _intrinsics_ptr);
-
-        virtual ~SensorCamera();
-
-        Eigen::VectorXs getDistortionVector()   { return distortion_; }
-        Eigen::VectorXs getCorrectionVector()   { return correction_; }
-        Eigen::Matrix3s getIntrinsicMatrix()    { return K_; }
-
-        bool isUsingRawImages() { return using_raw_; }
-        bool useRawImages();
-        bool useRectifiedImages();
-
-
-        int getImgWidth(){return img_width_;}
-        int getImgHeight(){return img_height_;}
-        void setImgWidth(int _w){img_width_ = _w;}
-        void setImgHeight(int _h){img_height_ = _h;}
-
-    private:
-        int img_width_;
-        int img_height_;
-        Eigen::VectorXs distortion_;
-        Eigen::VectorXs correction_;
-        Eigen::Vector4s pinhole_model_raw_, pinhole_model_rectified_;
-        Eigen::Matrix3s K_;
-        bool using_raw_;
-
-        virtual Eigen::Matrix3s setIntrinsicMatrix(Eigen::Vector4s _pinhole_model);
-
-    public:
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW; // to guarantee alignment (see http://eigen.tuxfamily.org/dox-devel/group__TopicStructHavingEigenMembers.html)
-
-        static SensorBasePtr create(const std::string & _unique_name, //
-                                    const Eigen::VectorXs& _extrinsics, //
-                                    const IntrinsicsBasePtr _intrinsics);
-
-};
-
-inline bool SensorCamera::useRawImages()
-{
-    getIntrinsic()->setState(pinhole_model_raw_);
-    K_ = setIntrinsicMatrix(pinhole_model_raw_);
-    using_raw_ = true;
-
-    return true;
-}
-
-inline bool SensorCamera::useRectifiedImages()
-{
-    getIntrinsic()->setState(pinhole_model_rectified_);
-    K_ = setIntrinsicMatrix(pinhole_model_rectified_);
-    using_raw_ = false;
-
-    return true;
-}
-
-} // namespace wolf
-
-#endif // SENSOR_CAMERA_H
diff --git a/src/sensor/sensor_camera.cpp b/src/sensor/sensor_camera.cpp
deleted file mode 100644
index 54c08c69f3a263b6d71a1b461baa393e62db0d10..0000000000000000000000000000000000000000
--- a/src/sensor/sensor_camera.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "base/sensor/sensor_camera.h"
-
-#include "base/pinhole_tools.h"
-#include "base/state_block.h"
-#include "base/state_quaternion.h"
-
-namespace wolf
-{
-
-SensorCamera::SensorCamera(const Eigen::VectorXs& _extrinsics, const IntrinsicsCamera& _intrinsics) :
-                SensorBase("CAMERA", std::make_shared<StateBlock>(_extrinsics.head(3), true), std::make_shared<StateQuaternion>(_extrinsics.tail(4), true), std::make_shared<StateBlock>(_intrinsics.pinhole_model_raw, true), 1),
-                img_width_(_intrinsics.width), //
-                img_height_(_intrinsics.height), //
-                distortion_(_intrinsics.distortion), //
-                correction_(distortion_.size() + 1), // make correction vector slightly larger in size than the distortion vector
-                pinhole_model_raw_(_intrinsics.pinhole_model_raw), //
-                pinhole_model_rectified_(_intrinsics.pinhole_model_rectified), //
-                using_raw_(true)
-{
-    assert(_extrinsics.size() == 7 && "Wrong intrinsics vector size. Should be 7 for 3D");
-    useRawImages();
-    pinhole::computeCorrectionModel(getIntrinsic()->getState(), distortion_, correction_);
-}
-
-SensorCamera::SensorCamera(const Eigen::VectorXs& _extrinsics, IntrinsicsCameraPtr _intrinsics_ptr) :
-        SensorCamera(_extrinsics, *_intrinsics_ptr)
-{
-    //
-}
-
-SensorCamera::~SensorCamera()
-{
-    //
-}
-
-Eigen::Matrix3s SensorCamera::setIntrinsicMatrix(Eigen::Vector4s _pinhole_model)
-{
-    Eigen::Matrix3s K;
-    K(0, 0) = _pinhole_model(2);
-    K(0, 1) = 0;
-    K(0, 2) = _pinhole_model(0);
-    K(1, 0) = 0;
-    K(1, 1) = _pinhole_model(3);
-    K(1, 2) = _pinhole_model(1);
-    K.row(2) << 0, 0, 1;
-    return K;
-}
-
-// Define the factory method
-SensorBasePtr SensorCamera::create(const std::string& _unique_name, //
-                                 const Eigen::VectorXs& _extrinsics_pq, //
-                                 const IntrinsicsBasePtr _intrinsics)
-{
-    assert(_extrinsics_pq.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3D.");
-
-    std::shared_ptr<IntrinsicsCamera> intrinsics_ptr = std::static_pointer_cast<IntrinsicsCamera>(_intrinsics);
-    SensorCameraPtr sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
-    sen_ptr->setName(_unique_name);
-
-    return sen_ptr;
-}
-
-} // namespace wolf
-
-// Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
-namespace wolf
-{
-WOLF_REGISTER_SENSOR("CAMERA", SensorCamera)
-} // namespace wolf
-
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 8ee7623dc68b7f637677fd24ceb6f90b083a4b39..b175cb9d07eb344b347e9fbcb266d04371674140 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -210,6 +210,7 @@ TEST(Problem, StateBlocks)
     ASSERT_EQ(P->getStateBlockPtrList().size(), (unsigned int) 2);
     ASSERT_EQ(P->getStateBlockNotificationMap().size(), (unsigned int) 2);
 
+    //TODO: TO BE FIXED: Since the splitting the core has no camera sensor, so this test fails.
     // 3 state blocks, fixed
     SensorBasePtr    St = P->installSensor   ("CAMERA", "camera",   xs, wolf_root + "/src/examples/camera_params_ueye_sim.yaml");
     ASSERT_EQ(P->getStateBlockPtrList().size(), (unsigned int) (2 + 3));