diff --git a/src/basho/localization/fusion.cpp b/src/basho/localization/fusion.cpp
index 7000d34..fe21030 100644
--- a/src/basho/localization/fusion.cpp
+++ b/src/basho/localization/fusion.cpp
@@ -60,7 +60,7 @@ void Fusion2D::update(double mx, double my)
 
   // Kalman Gain
   keisan::Matrix<2,2> S = P + R;
-  keisan::Matrix<2,2> K = P * S.inverse2();
+  keisan::Matrix<2,2> K = P * S.inverse();
 
   // Update state
   Xk = Xk + K*(z - Xk);