diff --git a/matlab/unstable_examples/IMUKittiExampleAdvanced.m b/matlab/unstable_examples/IMUKittiExampleAdvanced.m
index dfca798c6..cb13eacee 100644
--- a/matlab/unstable_examples/IMUKittiExampleAdvanced.m
+++ b/matlab/unstable_examples/IMUKittiExampleAdvanced.m
@@ -71,7 +71,7 @@ clear logposes relposes
 %% Get initial conditions for the estimated trajectory
 % % % currentPoseGlobal = Pose3(Rot3, GPS_data(firstGPSPose).Position); % initial pose is the reference frame (navigation frame)
 currentPoseGlobal = Pose3;
-currentVelocityGlobal = LieVector([0;0;0]); % the vehicle is stationary at the beginning
+currentVelocityGlobal = [0;0;0]; % the vehicle is stationary at the beginning
 currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
 sigma_init_x = noiseModel.Isotropic.Sigma(6, 0.01);
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
@@ -120,7 +120,7 @@ for measurementIndex = 1:length(timestamps)
     newValues.insert(currentVelKey, currentVelocityGlobal);
     newValues.insert(currentBiasKey, currentBias);
     newFactors.add(PriorFactorPose3(currentPoseKey, currentPoseGlobal, sigma_init_x));
-    newFactors.add(PriorFactorLieVector(currentVelKey, currentVelocityGlobal, sigma_init_v));
+    newFactors.add(PriorFactorVector(currentVelKey, currentVelocityGlobal, sigma_init_v));
     newFactors.add(PriorFactorConstantBias(currentBiasKey, currentBias, sigma_init_b));
   else
     t_previous = timestamps(measurementIndex-1, 1);