diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index e6466605eab5c9ee0dca322d4ca701f555b10a55..f831e077a2b1ea698b24438a8c29fe3d7982dbc6 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -725,6 +725,9 @@ void ProcessorMotion::integrateOneStep()
                              jacobian_delta_,
                              jacobian_delta_preint_,
                              jacobian_calib_);
+
+    // integrate odometry
+    statePlusDelta(odometry_, delta_, dt_, odometry_);
 }
 
 void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)