diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b0d9a62d98febe8f8b4b3761fa5b857c67c4cb1..824ec0902e9c99ceb810ea71623f256c8bd2f8a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -250,7 +250,7 @@ SET(HDRS_PROCESSOR
   include/core/processor/processor_diff_drive.h
   include/core/processor/processor_factory.h
   include/core/processor/processor_logging.h
-  include/core/processor/processor_loopclosure_base2.h
+  include/core/processor/processor_loopclosure_base.h
   include/core/processor/processor_motion.h
   include/core/processor/processor_odom_2D.h
   include/core/processor/processor_odom_3D.h
@@ -344,7 +344,7 @@ SET(SRCS_PROCESSOR
   src/processor/processor_base.cpp
   src/processor/processor_capture_holder.cpp
   src/processor/processor_diff_drive.cpp
-  src/processor/processor_loopclosure_base2.cpp
+  src/processor/processor_loopclosure_base.cpp
   src/processor/processor_motion.cpp
   src/processor/processor_odom_2D.cpp
   src/processor/processor_odom_3D.cpp
diff --git a/include/core/processor/processor_loopclosure_base2.h b/include/core/processor/processor_loopclosure_base.h
similarity index 100%
rename from include/core/processor/processor_loopclosure_base2.h
rename to include/core/processor/processor_loopclosure_base.h
diff --git a/src/processor/processor_loopclosure_base2.cpp b/src/processor/processor_loopclosure_base.cpp
similarity index 97%
rename from src/processor/processor_loopclosure_base2.cpp
rename to src/processor/processor_loopclosure_base.cpp
index e1360b49a7957703139cfd0c68d8059b157e275e..33bdf1c81b53f56b89af15482b4b4b778322bbe3 100644
--- a/src/processor/processor_loopclosure_base2.cpp
+++ b/src/processor/processor_loopclosure_base.cpp
@@ -5,7 +5,7 @@
  *      \author: Pierre Guetschel
  */
 
-#include "core/processor/processor_loopclosure_base2.h"
+#include "core/processor/processor_loopclosure_base.h"
 
 
 namespace wolf