diff --git a/fuse/fuse_trajectory.py b/fuse/fuse_trajectory.py
index 839297d..2222c3c 100644
--- a/fuse/fuse_trajectory.py
+++ b/fuse/fuse_trajectory.py
@@ -193,7 +193,9 @@ def fuse(fixes_h5: str, poses_npz: str, out_h5: str,
             poses_world[i, :3, 3] = [t_xy[0], t_xy[1], z_world]
 
         xyz_world = poses_world[:, :3, 3]
-        rmse_m = float(residuals_2d[mask].mean())
+        residuals_2d_refined = np.linalg.norm(
+            (scale_xy * (R2 @ src_xy[mask].T).T + t2) - dst_xy[mask], axis=1)
+        rmse_m = float(residuals_2d_refined.mean())
         scale_out = scale_xy
         R_out = R3
         t_out = t3