The Georgia Court of Appeals has overturned the convictions of a former DeKalb County police officer who shot and killed an unarmed, naked man.

Robert “Chip” Olsen was responding to a call of a naked man behaving erratically at an Atlanta-area apartment complex in March 2015 when he killed 26-year-old Anthony Hill, a black Air Force veteran who’d been diagnosed with bipolar disorder and post-traumatic stress disorder. Olsen, who worked for the DeKalb County Police Department, said he was acting in self-defense.