diff --git a/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp b/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp
index 5b7cec14..d2d8d225 100644
--- a/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp
+++ b/src/Perception/Modules/HumansModules/HumansEmulatedPerceptionModule.cpp
@@ -4,8 +4,7 @@ namespace owds {
 
   bool HumansEmulatedPerceptionModule::perceptionCallback(const std::vector<BodyPart*>& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto body_part : msg)
     {
diff --git a/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp b/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp
index 442d81c8..507a5238 100644
--- a/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp
+++ b/src/Perception/Modules/ObjectsModules/FakeObjectPerceptionModule.cpp
@@ -40,8 +40,7 @@ namespace owds {
 
   bool FakeObjectPerceptionModule::perceptionCallback(const overworld::EntitiesPoses& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto& obj : msg.entities)
     {
diff --git a/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp b/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp
index 64a4929d..41296836 100644
--- a/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp
+++ b/src/Perception/Modules/ObjectsModules/ObjectsEmulatedPerceptionModule.cpp
@@ -4,8 +4,7 @@ namespace owds {
 
   bool ObjectsEmulatedPerceptionModule::perceptionCallback(const std::vector<Object*>& msg)
   {
-    for(auto& percept : percepts_)
-      percept.second.setUnseen();
+    setAllPerceptsUnseen();
 
     for(auto object : msg)
     {