diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index 5750bd0b881afdbb9adbb41eca33013efe5d0960..7d4a6d4695df29a2f0e9459c2a7a1f6b6555dac4 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -135,7 +135,7 @@ void PublisherPose::publishDerived()
 
     // Covariance
     Eigen::MatrixXd cov(6,6);
-    auto KF = problem_->getLastKeyFrame();
+    auto KF = problem_->getLastFrame();
     bool success(true);
     success = success && problem_->getCovarianceBlock(KF->getP(), KF->getP(), cov, 0, 0);
     success = success && problem_->getCovarianceBlock(KF->getP(), KF->getO(), cov, 0, 3);