diff --git a/CHANGELOG.md b/CHANGELOG.md
index 18ef392..44d784d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,7 +15,9 @@ All non released changes should be in CHANGELOG_UNRELEASED.md file
 - UI Improvements: Decrease the size of POI icons.
 - UI Improvements: Update size, font and stroke of POI labels. The new font used is Roboto
 ### Fixed:
-- Fixed a bug that shows an invisible nav bar if search bar is set to be hidden SITLibrarySettings and you stop positioning.
+- Fixed a bug that shows an invisible nav bar if search bar is set to be hidden SITLibrarySettings and you stop positioning
+- Fixed crash in POI selection when user filter POI categories or change floor
+- Fixed crash in POI selection that occurs sometimes when clustering is enabled
 
 ## [0.12.0] - 2022-10-20
 ### Added:
diff --git a/CHANGELOG_UNRELEASED.md b/CHANGELOG_UNRELEASED.md
index 8b13789..df0df51 100644
--- a/CHANGELOG_UNRELEASED.md
+++ b/CHANGELOG_UNRELEASED.md
@@ -1 +1,3 @@
-
+### Fixed:
+- Fixed a bug that incorrectly show POIs when user is in navigation mode when user filters POIs by category or user
+  changes floor
diff --git a/SitumWayfinding/Classes/Positioning/Internal/MarkerRenderer.swift b/SitumWayfinding/Classes/Positioning/Internal/MarkerRenderer.swift
index fa841c2..0bc81e0 100644
--- a/SitumWayfinding/Classes/Positioning/Internal/MarkerRenderer.swift
+++ b/SitumWayfinding/Classes/Positioning/Internal/MarkerRenderer.swift
@@ -9,7 +9,7 @@ import GoogleMapsUtils
 
 class MarkerRenderer {
     var isClusteringEnabled: Bool { return markerClustering != nil }
-    
+
     private(set) var markers: [SitumMarker] = []
     private var mapView: GMSMapView
     private var buildingManager: BuildingManager
@@ -19,7 +19,10 @@ class MarkerRenderer {
 
     private var currentFloor: SITFloor? = nil
     private var selectedPoi: SITPOI? = nil
-    
+    private var isUserNavigating: Bool = false
+    private var destinationOfNavigation: SitumMarker? = nil
+    private var userCustomMarker: SitumMarker? = nil
+
     init(
         mapView: GMSMapView,
         buildingManager: BuildingManager,
@@ -36,9 +39,32 @@ class MarkerRenderer {
         }
         self.buildingManager.addDelegate(self)
     }
-    
-    func displayPoiMarkers(forFloor floor: SITFloor) {
+
+    func displayMarkers(forFloor floor: SITFloor, withCustomMarker marker: SitumMarker?) {
+        currentFloor = floor
+        userCustomMarker = marker
+        deactivateNavigation()
+        displayPoiMarkers(forFloor: floor)
+    }
+
+    func displayMarkersWhileNavigating(forFloor floor: SITFloor, withDestination destination: SitumMarker?) {
+        guard let destination = destination else { return }
         currentFloor = floor
+        activateNavigation()
+        destinationOfNavigation = destination
+        displayOnlyDestinationMarker(destination, forFloor: floor)
+    }
+
+    private func deactivateNavigation() {
+        isUserNavigating = false
+        destinationOfNavigation = nil
+    }
+
+    private func activateNavigation() {
+        isUserNavigating = true
+    }
+
+    private func displayPoiMarkers(forFloor floor: SITFloor) {
         removeMarkers()
         var poisInFloor = buildingManager.filterPoisByCategories().filter(by: floor)
         poisInFloor = preserveSelectedPoi(pois: poisInFloor, floor: floor)
@@ -56,6 +82,10 @@ class MarkerRenderer {
             }
             selectMarkerIfIsSelectedPoi(marker: marker, poi: poi)
         }
+
+        if let marker = userCustomMarker {
+            displayLongPressMarker(marker, forFloor: floor)
+        }
     }
 
     private func preserveSelectedPoi(pois: [SITPOI], floor: SITFloor) -> [SITPOI] {
@@ -73,14 +103,14 @@ class MarkerRenderer {
         }
     }
     
-    func displayLongPressMarker(_ marker: SitumMarker, forFloor floor: SITFloor) {
+    private func displayLongPressMarker(_ marker: SitumMarker, forFloor floor: SITFloor) {
         if floor.identifier == marker.floorIdentifier {
             markers.append(marker)
             selectMarker(marker)
         }
     }
     
-    func displayOnlyDestinationMarker(_ marker: SitumMarker, forFloor floor: SITFloor) {
+    private func displayOnlyDestinationMarker(_ marker: SitumMarker, forFloor floor: SITFloor) {
         removeMarkers()
         if let markerCluster = markerClustering {
             if floor.identifier == marker.floorIdentifier {
@@ -189,7 +219,7 @@ class MarkerRenderer {
         // do not load images for markers that are not currently rendered (internal array)
         // also, ensure the marker is a reference to internal array of SitumMarker
         guard let marker = searchMarker(byPoi: poi) else { return }
-        let showPoiNames = showPoiNames
+        let localShowPoiNames = showPoiNames
         
         iconsStore.obtainIconFor(category: poi.category) { items in
             guard var icon = selected ? items?[1] : items?[0] else {
@@ -201,7 +231,7 @@ class MarkerRenderer {
     
             let color = UIColor(hex: "#5b5b5bff") ?? UIColor.gray
             let title = poi.name
-            if showPoiNames {
+            if localShowPoiNames {
                 marker.gmsMarker.icon = icon.setTitle(title: title, size: 16.0, color: color, weight: .bold)
             } else {
                 marker.gmsMarker.icon = icon
@@ -224,7 +254,10 @@ class MarkerRenderer {
 
 extension MarkerRenderer: BuildingManagerDelegate {
     func poiFiltersByCategoriesWereUpdated() {
-        if let floor = currentFloor {
+        guard let floor = currentFloor else { return }
+        if isUserNavigating {
+            displayMarkersWhileNavigating(forFloor: floor, withDestination: destinationOfNavigation)
+        } else {
             displayPoiMarkers(forFloor: floor)
         }
     }
diff --git a/SitumWayfinding/Classes/Positioning/PositioningViewController.swift b/SitumWayfinding/Classes/Positioning/PositioningViewController.swift
index 029acd6..ac2637f 100644
--- a/SitumWayfinding/Classes/Positioning/PositioningViewController.swift
+++ b/SitumWayfinding/Classes/Positioning/PositioningViewController.swift
@@ -1251,22 +1251,16 @@ extension PositioningViewController {
     func displayMarkers(forFloor floor: SITFloor, isUserNavigating: Bool) {
         guard let renderer = markerRenderer else { return }
         if !isUserNavigating {
-            renderer.displayPoiMarkers(forFloor: floor)
-            if let customMarker = lastCustomMarker {
-                renderer.displayLongPressMarker(customMarker, forFloor: floor)
-            }
+            renderer.displayMarkers(forFloor: floor, withCustomMarker: lastCustomMarker)
             
             // in the future selection should be encapsulated in some other class to abstract Google maps
-            for marker in renderer.markers {
-                if marker == lastSelectedMarker {
-                    select(marker: marker)
-                }
+            if let marker = renderer.markers.first(where: { $0 == lastSelectedMarker }) {
+                select(marker: marker)
             }
         } else {
-            if let marker = destinationMarker {
-               renderer.displayOnlyDestinationMarker(marker, forFloor: floor)
-            } else {
-                Logger.logDebugMessage("Destination will not be shown becuase there is no destinationMarker selected")
+            renderer.displayMarkersWhileNavigating(forFloor: floor, withDestination: destinationMarker)
+            if destinationMarker == nil {
+                Logger.logDebugMessage("Destination will not be shown because there is no destinationMarker selected")
             }
         }
     }