diff --git a/pyproject.toml b/pyproject.toml
index 35478bf..28e83be 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "mapmos"
-version = "1.0.0"
+version = "1.1.0"
 description = "Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation"
 readme = "README.md"
 authors = [
@@ -8,7 +8,7 @@ authors = [
 ]
 license_files = "LICENSE"
 dependencies = [
-    "kiss-icp>=1.0.0",
+    "kiss-icp>=1.2.0",
     "diskcache>=5.3.0",
     "pytorch_lightning>=1.6.4",
 ]
diff --git a/src/mapmos/odometry.py b/src/mapmos/odometry.py
index b9ecbea..2e8a50a 100644
--- a/src/mapmos/odometry.py
+++ b/src/mapmos/odometry.py
@@ -61,10 +61,7 @@ def __init__(
 
     def register_points(self, points, timestamps, scan_index):
         # Apply motion compensation
-        points = self.compensator.deskew_scan(points, timestamps, self.last_delta)
-
-        # Preprocess the input cloud
-        points_prep = self.preprocess(points)
+        points_prep = self.preprocessor.preprocess(points, timestamps, self.last_delta)
 
         # Voxelize
         source, points_downsample = self.voxelize(points_prep)