diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp
index 9843afeb..d8ebe76d 100644
--- a/rtabmap_odom/src/OdometryROS.cpp
+++ b/rtabmap_odom/src/OdometryROS.cpp
@@ -567,9 +567,8 @@ void OdometryROS::processData()
 		for(std::map<double, rtabmap::IMU>::iterator iter=iterFirst; iter!=iterEnd;)
 		{
 			// Because we always keep the last processed imu in the buffer, skip the first 
-			// one when processing again the buffer unless its time is lower/equal to image 
-			// current stamp (could happen on initialization).
-			if(iter!=iterFirst || iter->first <= header.stamp.toSec()) {
+			// one when processing again the buffer
+			if(iter!=iterFirst) {
 				imus.push_back(*iter);
 			}
 			if(iter!=iterLast) {