diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 8bfd2fde7ffcb763a74343d558cd0755754eb142..2744da772f7c359606f5a0673b3384bb3b383346 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -33,25 +33,59 @@ namespace armarx {
 
                 VariantTypeId type = dataHistory.begin()->second->getType();
 
-                if(type == VariantType::FramedVector3)
+                if ((type == VariantType::Vector3) || (type == VariantType::FramedVector3) || (type == VariantType::FramedPosition))
                 {
 
                     Eigen::Vector3f vec;
                     vec.setZero();
+                    std::string frame = "";
+                    std::string agent = "";
+                    VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
+                    if (type == VariantType::FramedVector3)
+                    {
+                        FramedVector3Ptr p = var->get<FramedVector3>();
+                        frame = p->frame;
+                        agent = p->agent;
+                    }
+                    else if (type == VariantType::FramedPosition)
+                    {
+                        FramedPositionPtr p = var->get<FramedPosition>();
+                        frame = p->frame;
+                        agent = p->agent;
+                    }
 
                     for (int i = 0; i < 3; ++i) {
                         std::vector<double> values;
                         for(auto v : dataHistory)
                         {
                             VariantPtr v2 = VariantPtr::dynamicCast(v.second);
-                            values.push_back(v2->get<FramedVector3>()->toEigen()[i]);
+                            values.push_back(v2->get<Vector3>()->toEigen()[i]);
                         }
                         std::sort(values.begin(), values.end());
                         vec[i] = values.at(values.size()/2);
                     }
 
-                    Vector3Ptr vecVar = new Vector3(vec);
-                    return new Variant(vecVar);
+                    if (type == VariantType::Vector3)
+                    {
+                        Vector3Ptr vecVar = new Vector3(vec);
+                        return new Variant(vecVar);
+                    }
+                    else if (type == VariantType::FramedVector3)
+                    {
+
+                        FramedVector3Ptr vecVar = new FramedVector3(vec, frame, agent);
+                        return new Variant(vecVar);
+                    }
+                    else if (type == VariantType::FramedPosition)
+                    {
+                        FramedPositionPtr vecVar = new FramedPosition(vec, frame, agent);
+                        return new Variant(vecVar);
+                    }
+                    else
+                    {
+                        ARMARX_WARNING_S << "Implementation missing here";
+                        return NULL;
+                    }
                 }
                 else if(type == VariantType::Double)
                 {
@@ -73,9 +107,9 @@ namespace armarx {
             ParameterTypeList getSupportedTypes(const Ice::Current &c) const
             {
                 ParameterTypeList result = MedianFilter::getSupportedTypes(c);
-//                result.push_back(VariantType::Vector3);
+                result.push_back(VariantType::Vector3);
                 result.push_back(VariantType::FramedVector3);
-//                result.push_back(VariantType::FramedPosition);
+                result.push_back(VariantType::FramedPosition);
                 return result;
             }