diff --git a/include/basalt/calibration/calibration_helper.h b/include/basalt/calibration/calibration_helper.h
index 49bb151..dcdf48f 100644
--- a/include/basalt/calibration/calibration_helper.h
+++ b/include/basalt/calibration/calibration_helper.h
@@ -69,20 +69,23 @@ struct CalibInitPoseData {
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
+using CalibCornerMap = tbb::concurrent_unordered_map<TimeCamId, CalibCornerData,
+                                                     std::hash<TimeCamId>>;
+
+using CalibInitPoseMap =
+    tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData,
+                                  std::hash<TimeCamId>>;
+
 class CalibHelper {
  public:
-  static void detectCorners(
-      const VioDatasetPtr& vio_data,
-      tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>& calib_corners,
-      tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>&
-          calib_corners_rejected);
+  static void detectCorners(const VioDatasetPtr& vio_data,
+                            CalibCornerMap& calib_corners,
+                            CalibCornerMap& calib_corners_rejected);
 
   static void initCamPoses(
       const Calibration<double>::Ptr& calib,
       const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
-      tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>& calib_corners,
-      tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData>&
-          calib_init_poses);
+      CalibCornerMap& calib_corners, CalibInitPoseMap& calib_init_poses);
 
   static bool initializeIntrinsics(
       const Eigen::aligned_vector<Eigen::Vector2d>& corners,
diff --git a/include/basalt/calibration/cam_calib.h b/include/basalt/calibration/cam_calib.h
index bfd211f..34e4524 100644
--- a/include/basalt/calibration/cam_calib.h
+++ b/include/basalt/calibration/cam_calib.h
@@ -111,10 +111,9 @@ class CamCalib {
   VioDatasetPtr vio_dataset;
   // CalibrationPtr calib;
 
-  tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> calib_corners;
-  tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>
-      calib_corners_rejected;
-  tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData> calib_init_poses;
+  CalibCornerMap calib_corners;
+  CalibCornerMap calib_corners_rejected;
+  CalibInitPoseMap calib_init_poses;
 
   std::shared_ptr<std::thread> processing_thread;
 
diff --git a/include/basalt/calibration/cam_imu_calib.h b/include/basalt/calibration/cam_imu_calib.h
index e9ba471..94e8d1c 100644
--- a/include/basalt/calibration/cam_imu_calib.h
+++ b/include/basalt/calibration/cam_imu_calib.h
@@ -110,10 +110,9 @@ class CamImuCalib {
 
   VioDatasetPtr vio_dataset;
 
-  tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> calib_corners;
-  tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>
-      calib_corners_rejected;
-  tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData> calib_init_poses;
+  CalibCornerMap calib_corners;
+  CalibCornerMap calib_corners_rejected;
+  CalibInitPoseMap calib_init_poses;
 
   std::shared_ptr<std::thread> processing_thread;
 
diff --git a/include/basalt/optical_flow/frame_to_frame_optical_flow.h b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
index ee46822..5e9c6ef 100644
--- a/include/basalt/optical_flow/frame_to_frame_optical_flow.h
+++ b/include/basalt/optical_flow/frame_to_frame_optical_flow.h
@@ -195,7 +195,9 @@ class FrameToFrameOpticalFlow : public OpticalFlowBase {
       init_vec.push_back(kv.second);
     }
 
-    tbb::concurrent_unordered_map<KeypointId, Eigen::AffineCompact2f> result;
+    tbb::concurrent_unordered_map<KeypointId, Eigen::AffineCompact2f,
+                                  std::hash<KeypointId>>
+        result;
 
     auto compute_func = [&](const tbb::blocked_range<size_t>& range) {
       for (size_t r = range.begin(); r != range.end(); ++r) {
diff --git a/include/basalt/optical_flow/patch_optical_flow.h b/include/basalt/optical_flow/patch_optical_flow.h
index e5ed634..51ead8b 100644
--- a/include/basalt/optical_flow/patch_optical_flow.h
+++ b/include/basalt/optical_flow/patch_optical_flow.h
@@ -183,7 +183,9 @@ class PatchOpticalFlow : public OpticalFlowBase {
       init_vec.push_back(kv.second);
     }
 
-    tbb::concurrent_unordered_map<KeypointId, Eigen::AffineCompact2f> result;
+    tbb::concurrent_unordered_map<KeypointId, Eigen::AffineCompact2f,
+                                  std::hash<KeypointId>>
+        result;
 
     auto compute_func = [&](const tbb::blocked_range<size_t>& range) {
       for (size_t r = range.begin(); r != range.end(); ++r) {
diff --git a/include/basalt/utils/common_types.h b/include/basalt/utils/common_types.h
index ec0365e..cc0c07e 100644
--- a/include/basalt/utils/common_types.h
+++ b/include/basalt/utils/common_types.h
@@ -109,7 +109,8 @@ struct KeypointsData {
 };
 
 /// feature corners is a collection of { imageId => KeypointsData }
-using Corners = tbb::concurrent_unordered_map<TimeCamId, KeypointsData>;
+using Corners = tbb::concurrent_unordered_map<TimeCamId, KeypointsData,
+                                              std::hash<TimeCamId>>;
 
 /// feature matches for an image pair
 struct MatchData {
@@ -127,7 +128,7 @@ struct MatchData {
 /// feature matches is a collection of { (imageId, imageId) => MatchData }
 using Matches = tbb::concurrent_unordered_map<
     std::pair<TimeCamId, TimeCamId>, MatchData,
-    tbb::tbb_hash<std::pair<TimeCamId, TimeCamId>>,
+    std::hash<std::pair<TimeCamId, TimeCamId>>,
     std::equal_to<std::pair<TimeCamId, TimeCamId>>,
     Eigen::aligned_allocator<
         std::pair<const std::pair<TimeCamId, TimeCamId>, MatchData>>>;
diff --git a/include/basalt/vi_estimator/nfr_mapper.h b/include/basalt/vi_estimator/nfr_mapper.h
index 2781cc3..fba9252 100644
--- a/include/basalt/vi_estimator/nfr_mapper.h
+++ b/include/basalt/vi_estimator/nfr_mapper.h
@@ -57,12 +57,6 @@ class HashBow;
 class NfrMapper : public BundleAdjustmentBase {
  public:
   using Ptr = std::shared_ptr<NfrMapper>;
-  using Matches = tbb::concurrent_unordered_map<
-      std::pair<TimeCamId, TimeCamId>, MatchData,
-      tbb::tbb_hash<std::pair<TimeCamId, TimeCamId>>,
-      std::equal_to<std::pair<TimeCamId, TimeCamId>>,
-      Eigen::aligned_allocator<
-          std::pair<const std::pair<TimeCamId, TimeCamId>, MatchData>>>;
 
   template <class AccumT>
   struct MapperLinearizeAbsReduce
diff --git a/src/calibration/calibraiton_helper.cpp b/src/calibration/calibraiton_helper.cpp
index 2597fc2..7a86ce2 100644
--- a/src/calibration/calibraiton_helper.cpp
+++ b/src/calibration/calibraiton_helper.cpp
@@ -97,11 +97,9 @@ bool estimateTransformation(
   return ransac.inliers_.size() > 8;
 }
 
-void CalibHelper::detectCorners(
-    const VioDatasetPtr &vio_data,
-    tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> &calib_corners,
-    tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>
-        &calib_corners_rejected) {
+void CalibHelper::detectCorners(const VioDatasetPtr &vio_data,
+                                CalibCornerMap &calib_corners,
+                                CalibCornerMap &calib_corners_rejected) {
   calib_corners.clear();
   calib_corners_rejected.clear();
 
@@ -144,9 +142,7 @@ void CalibHelper::detectCorners(
 void CalibHelper::initCamPoses(
     const Calibration<double>::Ptr &calib,
     const Eigen::aligned_vector<Eigen::Vector4d> &aprilgrid_corner_pos_3d,
-    tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> &calib_corners,
-    tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData>
-        &calib_init_poses) {
+    CalibCornerMap &calib_corners, CalibInitPoseMap &calib_init_poses) {
   calib_init_poses.clear();
 
   std::vector<TimeCamId> corners;
diff --git a/src/opt_flow.cpp b/src/opt_flow.cpp
index b824db2..2ebd769 100644
--- a/src/opt_flow.cpp
+++ b/src/opt_flow.cpp
@@ -83,7 +83,8 @@ basalt::VioDatasetPtr vio_dataset;
 basalt::VioConfig vio_config;
 basalt::OpticalFlowBase::Ptr opt_flow_ptr;
 
-tbb::concurrent_unordered_map<int64_t, basalt::OpticalFlowResult::Ptr>
+tbb::concurrent_unordered_map<int64_t, basalt::OpticalFlowResult::Ptr,
+                              std::hash<int64_t>>
     observations;
 tbb::concurrent_bounded_queue<basalt::OpticalFlowResult::Ptr>
     observations_queue;
diff --git a/src/vio.cpp b/src/vio.cpp
index c16a608..048a8ab 100644
--- a/src/vio.cpp
+++ b/src/vio.cpp
@@ -130,7 +130,7 @@ Eigen::aligned_vector<Eigen::Vector3d> gt_t_w_i;
 std::string marg_data_path;
 size_t last_frame_processed = 0;
 
-tbb::concurrent_unordered_map<int64_t, int> timestamp_to_id;
+tbb::concurrent_unordered_map<int64_t, int, std::hash<int64_t>> timestamp_to_id;
 
 std::mutex m;
 std::condition_variable cv;