diff --git a/src/pyrecest/evaluation/summarize_filter_results.py b/src/pyrecest/evaluation/summarize_filter_results.py
index 89a58e7c0..74d187d87 100644
--- a/src/pyrecest/evaluation/summarize_filter_results.py
+++ b/src/pyrecest/evaluation/summarize_filter_results.py
@@ -27,6 +27,8 @@ def summarize_filter_results(
             "Provided both last_filter_states and last_estimates. Using last_estimates."
         )
         filter_results = last_estimates
+    elif last_estimates is not None:
+        filter_results = last_estimates
     elif last_filter_states is not None:
         filter_results = last_filter_states
     else:
@@ -38,7 +40,7 @@ def summarize_filter_results(
         warnings.warn("Using less than 1000 runs. This may lead to unreliable results.")
 
     extract_mean = get_extract_mean(
-        scenario_config["manifold"], mtt_scenario=scenario_config["mtt"]
+        scenario_config["manifold"], mtt_scenario=scenario_config.get("mtt", False)
     )
     distance_function = get_distance_function(scenario_config["manifold"])
     errors_all = determine_all_deviations(
diff --git a/tests/test_evaluation_summarize_filter_results.py b/tests/test_evaluation_summarize_filter_results.py
index 9253c4100..65b315574 100644
--- a/tests/test_evaluation_summarize_filter_results.py
+++ b/tests/test_evaluation_summarize_filter_results.py
@@ -22,6 +22,35 @@ def test_rejects_jax_backend_explicitly(self):
                     last_estimates=np.empty((0, 0), dtype=object),
                 )
 
+    @unittest.skipIf(
+        pyrecest.backend.__backend_name__ in ("pytorch", "jax"),
+        reason="Not supported on this backend",
+    )
+    def test_accepts_last_estimates_without_explicit_mtt_flag(self):
+        groundtruths = np.empty((2, 2), dtype=object)
+        for index in np.ndindex(groundtruths.shape):
+            groundtruths[index] = np.zeros(2)
+
+        last_estimates = np.zeros((1, 2, 2))
+        runtimes = np.ones((1, 2))
+        run_failed = np.zeros((1, 2), dtype=bool)
+        filter_configs = [{"name": "estimate-only", "parameter": None}]
+
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")
+            results = summarize_filter_results(
+                scenario_config={"manifold": "Euclidean"},
+                filter_configs=filter_configs,
+                runtimes=runtimes,
+                groundtruths=groundtruths,
+                run_failed=run_failed,
+                last_estimates=last_estimates,
+            )
+
+        self.assertIs(results, filter_configs)
+        self.assertAlmostEqual(float(results[0]["error_mean"]), 0.0)
+        self.assertAlmostEqual(float(results[0]["failure_rate"]), 0.0)
+
     @unittest.skipIf(
         pyrecest.backend.__backend_name__ in ("pytorch", "jax"),
         reason="Not supported on this backend",