diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp
index 1c196488f..432b6a050 100644
--- a/examples/Pose2SLAMExample_advanced.cpp
+++ b/examples/Pose2SLAMExample_advanced.cpp
@@ -74,7 +74,7 @@ int main(int argc, char** argv) {
 
 	/* Get covariances */
 	Matrix covariance1  = optimizer_result.marginalCovariance(PoseKey(1));
-	Matrix covariance2  = optimizer_result.marginalCovariance(PoseKey(1));
+	Matrix covariance2  = optimizer_result.marginalCovariance(PoseKey(2));
 
 	print(covariance1, "Covariance1");
 	print(covariance2, "Covariance2");