diff --git a/include/rf2o_laser_odometry/CLaserOdometry2D.h b/include/rf2o_laser_odometry/CLaserOdometry2D.h
index 4f70b5b..7feb83a 100644
--- a/include/rf2o_laser_odometry/CLaserOdometry2D.h
+++ b/include/rf2o_laser_odometry/CLaserOdometry2D.h
@@ -25,10 +25,11 @@
 #if MRPT_VERSION>=0x130
 #   include <mrpt/obs/CObservation2DRangeScan.h>
 #   include <mrpt/obs/CObservationOdometry.h>
-    using namespace mrpt::obs;
+    typedef mrpt::obs::CObservation2DRangeScan CObservation2DRangeScan;
 #else
 #   include <mrpt/slam/CObservation2DRangeScan.h>
 #   include <mrpt/slam/CObservationOdometry.h>
+    typedef mrpt::poses::CObservation2DRangeScan CObservation2DRangeScan;
 
 #endif
 
@@ -166,7 +167,7 @@ protected:
     void solveSystemNonLinear();
 	void filterLevelSolution();
 	void PoseUpdate();
-    void Reset(mrpt::poses::CPose3D ini_pose, mrpt::poses::CObservation2DRangeScan scan);
+    void Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan);
 };
 
 #endif
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index 5d3d0a0..d3dc87d 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -708,7 +708,7 @@ void CLaserOdometry2D::solveSystemNonLinear()
         std::cout << endl << "[rf2o] COV_ODO: " << cov_odo  << endl;
 }
 
-void CLaserOdometry2D::Reset(mrpt::poses::CPose3D ini_pose, mrpt::poses::CObservation2DRangeScan scan)
+void CLaserOdometry2D::Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan)
 {
 	//Set the initial pose
 	laser_pose = ini_pose;