diff --git a/include/basalt/vi_estimator/ba_base.h b/include/basalt/vi_estimator/ba_base.h
index 2cb0d4b..3b875af 100644
--- a/include/basalt/vi_estimator/ba_base.h
+++ b/include/basalt/vi_estimator/ba_base.h
@@ -399,7 +399,7 @@ class BundleAdjustmentBase {
 
   inline void restore() {
     for (auto& kv : frame_states) kv.second.restore();
-    for (auto& kv : frame_poses) kv.second.backup();
+    for (auto& kv : frame_poses) kv.second.restore();
     lmdb.restore();
   }