diff --git a/src/glim/odometry/loose_initial_state_estimation.cpp b/src/glim/odometry/loose_initial_state_estimation.cpp
index 32ae2e2..f266bad 100644
--- a/src/glim/odometry/loose_initial_state_estimation.cpp
+++ b/src/glim/odometry/loose_initial_state_estimation.cpp
@@ -130,7 +130,7 @@ EstimationFrame::ConstPtr LooseInitialStateEstimation::initial_pose() {
       imu_cursor++;
     }
 
-    const Eigen::Vector3d acc_local = imu_data[i].middleRows<3>(1);
+    const Eigen::Vector3d acc_local = imu_data[imu_cursor].middleRows<3>(1);
     sum_acc_odom += (T_odom_lidar[i].second * T_lidar_imu).linear() * acc_local.normalized();
   }