diff --git a/guilib/src/GraphViewer.cpp b/guilib/src/GraphViewer.cpp
index 5ddbe886..b10e9c50 100644
--- a/guilib/src/GraphViewer.cpp
+++ b/guilib/src/GraphViewer.cpp
@@ -162,7 +162,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
 		_nodeRadius(0.01),
 		_linkWidth(0),
 		_gridMap(0),
-		_lastReferential(0),
+		_referential(0),
 		_gridCellSize(0.0f)
 {
 	this->setScene(new QGraphicsScene(this));
@@ -181,16 +181,16 @@ GraphViewer::GraphViewer(QWidget * parent) :
 	item->setParentItem(_root);
 
 	// current pose
-	_lastReferential = new QGraphicsItemGroup();
-	this->scene()->addItem(_lastReferential);
+	_referential = new QGraphicsItemGroup();
+	this->scene()->addItem(_referential);
 	item = this->scene()->addLine(0,0,0,-0.5, QPen(QBrush(Qt::red), _linkWidth));
 	item->setZValue(100);
 	item->setParentItem(_root);
-	_lastReferential->addToGroup(item);
+	_referential->addToGroup(item);
 	item = this->scene()->addLine(0,0,-0.5,0, QPen(QBrush(Qt::green), _linkWidth));
 	item->setZValue(100);
 	item->setParentItem(_root);
-	_lastReferential->addToGroup(item);
+	_referential->addToGroup(item);
 
 
 	_gridMap = this->scene()->addPixmap(QPixmap());
@@ -360,23 +360,21 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 	{
 		(--_nodeItems.end()).value()->setColor(Qt::green);
 	}
-	if(poses.size())
-	{
-		Transform t = poses.rbegin()->second;
-		QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
-		_lastReferential->setTransform(qt);
-	}
 
 	this->scene()->setSceneRect(this->scene()->itemsBoundingRect());  // Re-shrink the scene to it's bounding contents
 
-	if(poses.size() == 0 || wasEmpty)
+	if(wasEmpty)
 	{
 		this->fitInView(this->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
 	}
-	else
-	{
-		this->centerOn(_lastReferential);
-	}
+}
+
+void GraphViewer::updateReferentialPosition(const Transform & t)
+{
+	QTransform qt(t.r11(), t.r12(), t.r21(), t.r22(), -t.o24(), -t.o14());
+	_referential->setTransform(qt);
+
+	this->ensureVisible(_referential);
 }
 
 void GraphViewer::updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin)
@@ -458,7 +456,7 @@ void GraphViewer::clearGraph()
 	_nodeItems.clear();
 	qDeleteAll(_linkItems);
 	_linkItems.clear();
-	_lastReferential->resetTransform();
+	_referential->resetTransform();
 	this->scene()->setSceneRect(this->scene()->itemsBoundingRect());  // Re-shrink the scene to it's bounding contents
 }
 
diff --git a/guilib/src/GraphViewer.h b/guilib/src/GraphViewer.h
index 4ee433b2..27b279ab 100644
--- a/guilib/src/GraphViewer.h
+++ b/guilib/src/GraphViewer.h
@@ -53,6 +53,7 @@ public:
 
 	void updateGraph(const std::map<int, Transform> & poses,
 					 const std::multimap<int, Link> & constraints);
+	void updateReferentialPosition(const Transform & t);
 	void updateMap(const cv::Mat & map8U, float resolution, float xMin, float yMin);
 	void updatePosterior(const std::map<int, float> & posterior);
 	void updateLocalPath(const std::vector<int> & localPath);
@@ -112,7 +113,7 @@ private:
 	float _nodeRadius;
 	float _linkWidth;
 	QGraphicsPixmapItem * _gridMap;
-	QGraphicsItemGroup * _lastReferential;
+	QGraphicsItemGroup * _referential;
 	float _gridCellSize;
 };
 
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 9658211a..120d47f7 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -710,13 +710,16 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
 	_ui->statsToolBox->updateStat("Odometry/T_pitch/deg", (float)data.id(), pitch*180.0/CV_PI);
 	_ui->statsToolBox->updateStat("Odometry/T_yaw/deg", (float)data.id(), yaw*180.0/CV_PI);
 
+	if(!pose.isNull() && (_ui->dockWidget_cloudViewer->isVisible() || _ui->graphicsView_graphView->isVisible()))
+	{
+		_lastOdomPose = pose;
+		_odometryReceived = true;
+	}
+
 	if(_ui->dockWidget_cloudViewer->isVisible())
 	{
 		if(!pose.isNull())
 		{
-			_lastOdomPose = pose;
-			_odometryReceived = true;
-
 			// 3d cloud
 			if(data.depthOrRightImage().cols == data.image().cols &&
 			   data.depthOrRightImage().rows == data.image().rows &&
@@ -773,6 +776,15 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
 		_ui->widget_cloudViewer->update();
 	}
 
+	if(_ui->graphicsView_graphView->isVisible())
+	{
+		if(!pose.isNull() && !data.pose().isNull())
+		{
+			_ui->graphicsView_graphView->updateReferentialPosition(_odometryCorrection*data.pose());
+			_ui->graphicsView_graphView->update();
+		}
+	}
+
 	if(_ui->dockWidget_odometry->isVisible() &&
 	   !data.image().empty())
 	{
@@ -1390,6 +1402,10 @@ void MainWindow::updateMapCloud(
 	if(_ui->graphicsView_graphView->isVisible())
 	{
 		_ui->graphicsView_graphView->updateGraph(posesIn, constraints);
+		if(!currentPose.isNull())
+		{
+			_ui->graphicsView_graphView->updateReferentialPosition(currentPose);
+		}
 	}
 	cv::Mat map8U;
 	if((_ui->graphicsView_graphView->isVisible() || _preferencesDialog->getGridMapShown()) && (_createdScans.size() || _preferencesDialog->isGridMapFrom3DCloud()))