diff --git a/src/feature_corner_2D.cpp b/src/feature_corner_2D.cpp
index e1414f463cf62602ad1d14372ab932a4302ea8be..59db17e3b425f0243f2048b5d9a65f4f30155bcf 100644
--- a/src/feature_corner_2D.cpp
+++ b/src/feature_corner_2D.cpp
@@ -4,7 +4,7 @@
 namespace wolf {
 
 FeatureCorner2D::FeatureCorner2D(const Eigen::Vector4s & _measurement, const Eigen::Matrix4s & _meas_covariance) :
-    FeatureBase("CORNER", _measurement, _meas_covariance)
+    FeatureBase("CORNER 2D", _measurement, _meas_covariance)
 {
     //std::cout << "feature: "<< _measurement.transpose() << std::endl;
 }
diff --git a/src/processor_tracker_feature_corner.cpp b/src/processor_tracker_feature_corner.cpp
index 584023b4a2f2d4c13c707f3482b839d1368f8b16..320b19ecb07a7073d72ca5bdafdcf6b3d6c30f12 100644
--- a/src/processor_tracker_feature_corner.cpp
+++ b/src/processor_tracker_feature_corner.cpp
@@ -96,7 +96,7 @@ ConstraintBasePtr ProcessorTrackerFeatureCorner::createConstraint(FeatureBasePtr
     // Getting landmark ptr
     LandmarkCorner2DPtr landmark_ptr = nullptr;
     for (auto constraint : _feature_other_ptr->getConstraintList())
-        if (constraint->getLandmarkOtherPtr() != nullptr && constraint->getLandmarkOtherPtr()->getType() == "CORNER")
+        if (constraint->getLandmarkOtherPtr() != nullptr && constraint->getLandmarkOtherPtr()->getType() == "CORNER 2D")
             landmark_ptr = std::static_pointer_cast<LandmarkCorner2D>(constraint->getLandmarkOtherPtr());
 
     if (landmark_ptr == nullptr)
diff --git a/src/processor_tracker_landmark_corner.cpp b/src/processor_tracker_landmark_corner.cpp
index e0522989cbb1f55a114c99bd854c8d54e296ca7a..384034534409278e1984e7d015b9515a40edb300 100644
--- a/src/processor_tracker_landmark_corner.cpp
+++ b/src/processor_tracker_landmark_corner.cpp
@@ -64,7 +64,7 @@ unsigned int ProcessorTrackerLandmarkCorner::findLandmarks(const LandmarkBaseLis
         Scalar closest_dm2 = 1e3;
         for (auto landmark_it = not_matched_landmarks.begin(); landmark_it != not_matched_landmarks.end(); landmark_it++)
         {
-            if ((*landmark_it)->getType() == "CORNER" &&
+            if ((*landmark_it)->getType() == "CORNER 2D" &&
                 fabs(pi2pi((std::static_pointer_cast<FeatureCorner2D>(*feature_it))->getAperture() - (*landmark_it)->getDescriptor(0))) < aperture_error_th_)
             {
                 dm2 = computeSquaredMahalanobisDistances((*feature_it), expected_features[*landmark_it],
@@ -128,7 +128,7 @@ unsigned int ProcessorTrackerLandmarkCorner::findLandmarks(const LandmarkBaseLis
             for (auto landmark_it = _landmarks_corner_searched.begin(); landmark_it != _landmarks_corner_searched.end();
                     landmark_it++, jj++)
             {
-                if ((*landmark_it)->getType() == "CORNER")
+                if ((*landmark_it)->getType() == "CORNER 2D")
                 {
                     landmarks_map[jj] = landmark_it;
                     landmarks_index_map[jj] = 0;