diff --git a/libs/slam/include/mrpt/maps/CMultiMetricMapPDF.h b/libs/slam/include/mrpt/maps/CMultiMetricMapPDF.h
index c1b564e6ba..56fd1a0536 100644
--- a/libs/slam/include/mrpt/maps/CMultiMetricMapPDF.h
+++ b/libs/slam/include/mrpt/maps/CMultiMetricMapPDF.h
@@ -91,6 +91,10 @@ namespace maps
 			const mrpt::obs::CActionCollection	* action,
 			const mrpt::obs::CSensoryFrame		* observation,
 			const bayes::CParticleFilter::TParticleFilterOptions &PF_options );
+		void  prediction_and_update_pfAuxiliaryPFStandard(
+			const mrpt::obs::CActionCollection	* action,
+			const mrpt::obs::CSensoryFrame		* observation,
+			const bayes::CParticleFilter::TParticleFilterOptions &PF_options );
 
 
 	private:
diff --git a/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp b/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp
index 02d12a72ef..04fcd3bf86 100644
--- a/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp
+++ b/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp
@@ -148,6 +148,17 @@ void  CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFOptimal(
 	MRPT_END
 }
 
+void  CMultiMetricMapPDF::prediction_and_update_pfAuxiliaryPFStandard(
+	const mrpt::obs::CActionCollection	* actions,
+	const mrpt::obs::CSensoryFrame		* sf,
+	const bayes::CParticleFilter::TParticleFilterOptions &PF_options )
+{
+	MRPT_START
+
+	PF_SLAM_implementation_pfAuxiliaryPFStandard<mrpt::slam::detail::TPoseBin2D>( actions, sf, PF_options,options.KLD_params);
+
+	MRPT_END
+}
 
 
 /*----------------------------------------------------------------------------------