diff --git a/cartographer/mapping/global_trajectory_builder_interface.h b/cartographer/mapping/global_trajectory_builder_interface.h
index 42fa9ab..502aa80 100644
--- a/cartographer/mapping/global_trajectory_builder_interface.h
+++ b/cartographer/mapping/global_trajectory_builder_interface.h
@@ -78,13 +78,13 @@ class GlobalTrajectoryBuilderInterface {
   virtual kalman_filter::PoseTracker* pose_tracker() const = 0;
   virtual const PoseEstimate& pose_estimate() const = 0;
 
-  virtual void AddHorizontalLaserFan(common::Time,
-                                     const sensor::LaserFan3D& laser_fan) = 0;
+  virtual void AddHorizontalLaserFan(common::Time time,
+                                     const sensor::LaserFan& laser_fan) = 0;
   virtual void AddImuData(common::Time time,
                           const Eigen::Vector3d& linear_acceleration,
                           const Eigen::Vector3d& angular_velocity) = 0;
   virtual void AddLaserFan3D(common::Time time,
-                             const sensor::LaserFan3D& laser_fan) = 0;
+                             const sensor::LaserFan& laser_fan) = 0;
   virtual void AddOdometerPose(
       common::Time time, const transform::Rigid3d& pose,
       const kalman_filter::PoseCovariance& covariance) = 0;
diff --git a/cartographer/mapping/trajectory_node.h b/cartographer/mapping/trajectory_node.h
index 047f3eb..61220e9 100644
--- a/cartographer/mapping/trajectory_node.h
+++ b/cartographer/mapping/trajectory_node.h
@@ -35,10 +35,10 @@ struct TrajectoryNode {
     common::Time time;
 
     // LaserFan in 'pose' frame. Only used in the 2D case.
-    sensor::LaserFan3D laser_fan_2d;
+    sensor::LaserFan laser_fan_2d;
 
     // LaserFan in 'pose' frame. Only used in the 3D case.
-    sensor::CompressedLaserFan3D laser_fan_3d;
+    sensor::CompressedLaserFan laser_fan_3d;
 
     // Trajectory this node belongs to.
     // TODO(jmason): The naming here is confusing because 'trajectory' doesn't
diff --git a/cartographer/mapping_2d/global_trajectory_builder.cc b/cartographer/mapping_2d/global_trajectory_builder.cc
index a413335..f32c575 100644
--- a/cartographer/mapping_2d/global_trajectory_builder.cc
+++ b/cartographer/mapping_2d/global_trajectory_builder.cc
@@ -41,7 +41,7 @@ kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const {
 }
 
 void GlobalTrajectoryBuilder::AddHorizontalLaserFan(
-    const common::Time time, const sensor::LaserFan3D& laser_fan) {
+    const common::Time time, const sensor::LaserFan& laser_fan) {
   std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> insertion_result =
       local_trajectory_builder_.AddHorizontalLaserFan(time, laser_fan);
   if (insertion_result != nullptr) {
diff --git a/cartographer/mapping_2d/global_trajectory_builder.h b/cartographer/mapping_2d/global_trajectory_builder.h
index ba5022c..996cb99 100644
--- a/cartographer/mapping_2d/global_trajectory_builder.h
+++ b/cartographer/mapping_2d/global_trajectory_builder.h
@@ -41,13 +41,13 @@ class GlobalTrajectoryBuilder
       const override;
 
   void AddHorizontalLaserFan(common::Time time,
-                             const sensor::LaserFan3D& laser_fan) override;
+                             const sensor::LaserFan& laser_fan) override;
   void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
                   const Eigen::Vector3d& angular_velocity) override;
   void AddOdometerPose(
       common::Time time, const transform::Rigid3d& pose,
       const kalman_filter::PoseCovariance& covariance) override;
-  void AddLaserFan3D(common::Time, const sensor::LaserFan3D&) override {
+  void AddLaserFan3D(common::Time, const sensor::LaserFan&) override {
     LOG(FATAL) << "Not implemented.";
   };
 
diff --git a/cartographer/mapping_2d/laser_fan_inserter.cc b/cartographer/mapping_2d/laser_fan_inserter.cc
index f3d2750..053343a 100644
--- a/cartographer/mapping_2d/laser_fan_inserter.cc
+++ b/cartographer/mapping_2d/laser_fan_inserter.cc
@@ -51,7 +51,7 @@ LaserFanInserter::LaserFanInserter(
       miss_table_(mapping::ComputeLookupTableToApplyOdds(
           mapping::Odds(options.miss_probability()))) {}
 
-void LaserFanInserter::Insert(const sensor::LaserFan3D& laser_fan,
+void LaserFanInserter::Insert(const sensor::LaserFan& laser_fan,
                               ProbabilityGrid* const probability_grid) const {
   CHECK_NOTNULL(probability_grid)->StartUpdate();
 
diff --git a/cartographer/mapping_2d/laser_fan_inserter.h b/cartographer/mapping_2d/laser_fan_inserter.h
index 2a22036..daae856 100644
--- a/cartographer/mapping_2d/laser_fan_inserter.h
+++ b/cartographer/mapping_2d/laser_fan_inserter.h
@@ -42,7 +42,7 @@ class LaserFanInserter {
   LaserFanInserter& operator=(const LaserFanInserter&) = delete;
 
   // Inserts 'laser_fan' into 'probability_grid'.
-  void Insert(const sensor::LaserFan3D& laser_fan,
+  void Insert(const sensor::LaserFan& laser_fan,
               ProbabilityGrid* probability_grid) const;
 
   const std::vector<uint16>& hit_table() const { return hit_table_; }
diff --git a/cartographer/mapping_2d/laser_fan_inserter_test.cc b/cartographer/mapping_2d/laser_fan_inserter_test.cc
index 413577c..569e63c 100644
--- a/cartographer/mapping_2d/laser_fan_inserter_test.cc
+++ b/cartographer/mapping_2d/laser_fan_inserter_test.cc
@@ -44,7 +44,7 @@ class LaserFanInserterTest : public ::testing::Test {
   }
 
   void InsertPointCloud() {
-    sensor::LaserFan3D laser_fan;
+    sensor::LaserFan laser_fan;
     laser_fan.returns.emplace_back(-3.5, 0.5, 0.f);
     laser_fan.returns.emplace_back(-2.5, 1.5, 0.f);
     laser_fan.returns.emplace_back(-1.5, 2.5, 0.f);
diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index 7fcc6f2..77101c2 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -78,13 +78,13 @@ kalman_filter::PoseTracker* LocalTrajectoryBuilder::pose_tracker() const {
   return pose_tracker_.get();
 }
 
-sensor::LaserFan3D LocalTrajectoryBuilder::BuildCroppedLaserFan(
+sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan(
     const transform::Rigid3f& tracking_to_tracking_2d,
-    const sensor::LaserFan3D& laser_fan) const {
-  const sensor::LaserFan3D cropped_fan = sensor::CropLaserFan(
-      sensor::TransformLaserFan3D(laser_fan, tracking_to_tracking_2d),
+    const sensor::LaserFan& laser_fan) const {
+  const sensor::LaserFan cropped_fan = sensor::CropLaserFan(
+      sensor::TransformLaserFan(laser_fan, tracking_to_tracking_2d),
       options_.horizontal_laser_min_z(), options_.horizontal_laser_max_z());
-  return sensor::LaserFan3D{
+  return sensor::LaserFan{
       cropped_fan.origin,
       sensor::VoxelFiltered(cropped_fan.returns,
                             options_.horizontal_laser_voxel_filter_size()),
@@ -95,7 +95,7 @@ sensor::LaserFan3D LocalTrajectoryBuilder::BuildCroppedLaserFan(
 void LocalTrajectoryBuilder::ScanMatch(
     common::Time time, const transform::Rigid3d& pose_prediction,
     const transform::Rigid3d& tracking_to_tracking_2d,
-    const sensor::LaserFan3D& laser_fan_in_tracking_2d,
+    const sensor::LaserFan& laser_fan_in_tracking_2d,
     transform::Rigid3d* pose_observation,
     kalman_filter::PoseCovariance* covariance_observation) {
   const ProbabilityGrid& probability_grid =
@@ -140,7 +140,7 @@ void LocalTrajectoryBuilder::ScanMatch(
 
 std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
 LocalTrajectoryBuilder::AddHorizontalLaserFan(
-    const common::Time time, const sensor::LaserFan3D& laser_fan) {
+    const common::Time time, const sensor::LaserFan& laser_fan) {
   // Initialize pose tracker now if we do not ever use an IMU.
   if (!options_.use_imu_data()) {
     InitializePoseTracker(time);
@@ -165,7 +165,7 @@ LocalTrajectoryBuilder::AddHorizontalLaserFan(
               -transform::GetYaw(pose_prediction), Eigen::Vector3d::UnitZ())) *
           pose_prediction.rotation());
 
-  const sensor::LaserFan3D laser_fan_in_tracking_2d =
+  const sensor::LaserFan laser_fan_in_tracking_2d =
       BuildCroppedLaserFan(tracking_to_tracking_2d.cast<float>(), laser_fan);
 
   if (laser_fan_in_tracking_2d.returns.empty()) {
@@ -212,8 +212,8 @@ LocalTrajectoryBuilder::AddHorizontalLaserFan(
   for (int insertion_index : submaps_.insertion_indices()) {
     insertion_submaps.push_back(submaps_.Get(insertion_index));
   }
-  submaps_.InsertLaserFan(TransformLaserFan3D(
-      laser_fan_in_tracking_2d, tracking_2d_to_map.cast<float>()));
+  submaps_.InsertLaserFan(TransformLaserFan(laser_fan_in_tracking_2d,
+                                            tracking_2d_to_map.cast<float>()));
 
   return common::make_unique<InsertionResult>(InsertionResult{
       time, &submaps_, matching_submap, insertion_submaps,
diff --git a/cartographer/mapping_2d/local_trajectory_builder.h b/cartographer/mapping_2d/local_trajectory_builder.h
index 11e42bf..a7c6829 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.h
+++ b/cartographer/mapping_2d/local_trajectory_builder.h
@@ -49,7 +49,7 @@ class LocalTrajectoryBuilder {
     std::vector<const mapping::Submap*> insertion_submaps;
     transform::Rigid3d tracking_to_tracking_2d;
     transform::Rigid3d tracking_2d_to_map;
-    sensor::LaserFan3D laser_fan_in_tracking_2d;
+    sensor::LaserFan laser_fan_in_tracking_2d;
     transform::Rigid2d pose_estimate_2d;
     kalman_filter::PoseCovariance covariance_estimate;
   };
@@ -64,7 +64,7 @@ class LocalTrajectoryBuilder {
   const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate()
       const;
   std::unique_ptr<InsertionResult> AddHorizontalLaserFan(
-      common::Time, const sensor::LaserFan3D& laser_fan);
+      common::Time, const sensor::LaserFan& laser_fan);
   void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
                   const Eigen::Vector3d& angular_velocity);
   void AddOdometerPose(common::Time time, const transform::Rigid3d& pose,
@@ -76,15 +76,15 @@ class LocalTrajectoryBuilder {
 
  private:
   // Transforms 'laser_scan', crops and voxel filters.
-  sensor::LaserFan3D BuildCroppedLaserFan(
+  sensor::LaserFan BuildCroppedLaserFan(
       const transform::Rigid3f& tracking_to_tracking_2d,
-      const sensor::LaserFan3D& laser_fan) const;
+      const sensor::LaserFan& laser_fan) const;
 
   // Scan match 'laser_fan_in_tracking_2d' and fill in the
   // 'pose_observation' and 'covariance_observation' with the result.
   void ScanMatch(common::Time time, const transform::Rigid3d& pose_prediction,
                  const transform::Rigid3d& tracking_to_tracking_2d,
-                 const sensor::LaserFan3D& laser_fan_in_tracking_2d,
+                 const sensor::LaserFan& laser_fan_in_tracking_2d,
                  transform::Rigid3d* pose_observation,
                  kalman_filter::PoseCovariance* covariance_observation);
 
diff --git a/cartographer/mapping_2d/map_limits.h b/cartographer/mapping_2d/map_limits.h
index d7806fd..1b9b2ba 100644
--- a/cartographer/mapping_2d/map_limits.h
+++ b/cartographer/mapping_2d/map_limits.h
@@ -102,14 +102,14 @@ class MapLimits {
     for (const auto& node : trajectory_nodes) {
       const auto& data = *node.constant_data;
       if (!data.laser_fan_3d.returns.empty()) {
-        const sensor::LaserFan3D laser_fan = sensor::TransformLaserFan3D(
+        const sensor::LaserFan laser_fan = sensor::TransformLaserFan(
             Decompress(data.laser_fan_3d), node.pose.cast<float>());
         bounding_box.extend(laser_fan.origin.head<2>());
         for (const Eigen::Vector3f& hit : laser_fan.returns) {
           bounding_box.extend(hit.head<2>());
         }
       } else {
-        const sensor::LaserFan3D laser_fan = sensor::TransformLaserFan3D(
+        const sensor::LaserFan laser_fan = sensor::TransformLaserFan(
             data.laser_fan_2d, node.pose.cast<float>());
         bounding_box.extend(laser_fan.origin.head<2>());
         for (const Eigen::Vector3f& hit : laser_fan.returns) {
diff --git a/cartographer/mapping_2d/map_limits_test.cc b/cartographer/mapping_2d/map_limits_test.cc
index 046cf27..168c4f0 100644
--- a/cartographer/mapping_2d/map_limits_test.cc
+++ b/cartographer/mapping_2d/map_limits_test.cc
@@ -39,12 +39,12 @@ TEST(MapLimitsTest, ConstructAndGet) {
 TEST(MapLimitsTest, ComputeMapLimits) {
   const mapping::TrajectoryNode::ConstantData constant_data{
       common::FromUniversal(52),
-      sensor::LaserFan3D{
+      sensor::LaserFan{
           Eigen::Vector3f::Zero(),
           {Eigen::Vector3f(-30.f, 1.f, 0.f), Eigen::Vector3f(50.f, -10.f, 0.f)},
           {}},
-      Compress(sensor::LaserFan3D{Eigen::Vector3f::Zero(), {}, {}, {}}),
-      nullptr, transform::Rigid3d::Identity()};
+      Compress(sensor::LaserFan{Eigen::Vector3f::Zero(), {}, {}, {}}), nullptr,
+      transform::Rigid3d::Identity()};
   const mapping::TrajectoryNode trajectory_node{&constant_data,
                                                 transform::Rigid3d::Identity()};
   constexpr double kResolution = 0.05;
diff --git a/cartographer/mapping_2d/ray_casting.cc b/cartographer/mapping_2d/ray_casting.cc
index 59268dd..e78c689 100644
--- a/cartographer/mapping_2d/ray_casting.cc
+++ b/cartographer/mapping_2d/ray_casting.cc
@@ -147,7 +147,7 @@ void CastRay(const Eigen::Array2i& begin, const Eigen::Array2i& end,
 
 }  // namespace
 
-void CastRays(const sensor::LaserFan3D& laser_fan, const MapLimits& limits,
+void CastRays(const sensor::LaserFan& laser_fan, const MapLimits& limits,
               const std::function<void(const Eigen::Array2i&)>& hit_visitor,
               const std::function<void(const Eigen::Array2i&)>& miss_visitor) {
   const double superscaled_resolution = limits.resolution() / kSubpixelScale;
diff --git a/cartographer/mapping_2d/ray_casting.h b/cartographer/mapping_2d/ray_casting.h
index acbd6bb..7e12121 100644
--- a/cartographer/mapping_2d/ray_casting.h
+++ b/cartographer/mapping_2d/ray_casting.h
@@ -30,7 +30,7 @@ namespace mapping_2d {
 
 // For each ray in 'laser_fan', calls 'hit_visitor' and 'miss_visitor' on the
 // appropriate cells. Hits are handled before misses.
-void CastRays(const sensor::LaserFan3D& laser_fan, const MapLimits& limits,
+void CastRays(const sensor::LaserFan& laser_fan, const MapLimits& limits,
               const std::function<void(const Eigen::Array2i&)>& hit_visitor,
               const std::function<void(const Eigen::Array2i&)>& miss_visitor);
 
diff --git a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
index 11cdfb8..e7ca0e9 100644
--- a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
+++ b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
@@ -150,7 +150,7 @@ TEST(FastCorrelativeScanMatcherTest, CorrectPose) {
         MapLimits(0.05, Eigen::Vector2d(5., 5.), CellLimits(200, 200)));
     probability_grid.StartUpdate();
     laser_fan_inserter.Insert(
-        sensor::LaserFan3D{
+        sensor::LaserFan{
             Eigen::Vector3f(expected_pose.translation().x(),
                             expected_pose.translation().y(), 0.f),
             sensor::TransformPointCloud(
@@ -203,7 +203,7 @@ TEST(FastCorrelativeScanMatcherTest, FullSubmapMatching) {
         MapLimits(0.05, Eigen::Vector2d(5., 5.), CellLimits(200, 200)));
     probability_grid.StartUpdate();
     laser_fan_inserter.Insert(
-        sensor::LaserFan3D{
+        sensor::LaserFan{
             transform::Embed3D(expected_pose * perturbation).translation(),
             sensor::TransformPointCloud(point_cloud,
                                         transform::Embed3D(expected_pose)),
diff --git a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc
index d956823..dbab5e5 100644
--- a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc
+++ b/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc
@@ -58,7 +58,7 @@ class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
     point_cloud_.emplace_back(-0.125f, 0.025f, 0.f);
     probability_grid_.StartUpdate();
     laser_fan_inserter_->Insert(
-        sensor::LaserFan3D{Eigen::Vector3f::Zero(), point_cloud_, {}},
+        sensor::LaserFan{Eigen::Vector3f::Zero(), point_cloud_, {}},
         &probability_grid_);
     {
       auto parameter_dictionary = common::MakeDictionary(
diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc
index 11650b7..dad9dd0 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph.cc
@@ -86,7 +86,7 @@ void SparsePoseGraph::GrowSubmapTransformsAsNeeded(
 
 void SparsePoseGraph::AddScan(
     common::Time time, const transform::Rigid3d& tracking_to_pose,
-    const sensor::LaserFan3D& laser_fan_in_pose, const transform::Rigid2d& pose,
+    const sensor::LaserFan& laser_fan_in_pose, const transform::Rigid2d& pose,
     const kalman_filter::Pose2DCovariance& covariance,
     const mapping::Submaps* submaps,
     const mapping::Submap* const matching_submap,
@@ -100,8 +100,8 @@ void SparsePoseGraph::AddScan(
 
   constant_node_data_->push_back(mapping::TrajectoryNode::ConstantData{
       time, laser_fan_in_pose,
-      Compress(sensor::LaserFan3D{Eigen::Vector3f::Zero(), {}, {}, {}}),
-      submaps, transform::Rigid3d(tracking_to_pose)});
+      Compress(sensor::LaserFan{Eigen::Vector3f::Zero(), {}, {}, {}}), submaps,
+      transform::Rigid3d(tracking_to_pose)});
   trajectory_nodes_.push_back(mapping::TrajectoryNode{
       &constant_node_data_->back(), optimized_pose,
   });
diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h
index e549f7a..84a1c16 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.h
+++ b/cartographer/mapping_2d/sparse_pose_graph.h
@@ -70,7 +70,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   // by scan matching against the 'matching_submap' and the scan was inserted
   // into the 'insertion_submaps'.
   void AddScan(common::Time time, const transform::Rigid3d& tracking_to_pose,
-               const sensor::LaserFan3D& laser_fan_in_pose,
+               const sensor::LaserFan& laser_fan_in_pose,
                const transform::Rigid2d& pose,
                const kalman_filter::Pose2DCovariance& pose_covariance,
                const mapping::Submaps* submaps,
diff --git a/cartographer/mapping_2d/sparse_pose_graph_test.cc b/cartographer/mapping_2d/sparse_pose_graph_test.cc
index b6f061e..c5fdda2 100644
--- a/cartographer/mapping_2d/sparse_pose_graph_test.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph_test.cc
@@ -157,10 +157,10 @@ class SparsePoseGraphTest : public ::testing::Test {
     for (int insertion_index : submaps_->insertion_indices()) {
       insertion_submaps.push_back(submaps_->Get(insertion_index));
     }
-    const sensor::LaserFan3D laser_fan{
+    const sensor::LaserFan laser_fan{
         Eigen::Vector3f::Zero(), new_point_cloud, {}};
     const transform::Rigid2d pose_estimate = noise * current_pose_;
-    submaps_->InsertLaserFan(TransformLaserFan3D(
+    submaps_->InsertLaserFan(TransformLaserFan(
         laser_fan, transform::Embed3D(pose_estimate.cast<float>())));
     sparse_pose_graph_->AddScan(common::FromUniversal(0),
                                 transform::Rigid3d::Identity(), laser_fan,
diff --git a/cartographer/mapping_2d/submaps.cc b/cartographer/mapping_2d/submaps.cc
index ae67d3c..a56df15 100644
--- a/cartographer/mapping_2d/submaps.cc
+++ b/cartographer/mapping_2d/submaps.cc
@@ -114,7 +114,7 @@ Submaps::Submaps(const proto::SubmapsOptions& options)
   AddSubmap(Eigen::Vector2f::Zero());
 }
 
-void Submaps::InsertLaserFan(const sensor::LaserFan3D& laser_fan) {
+void Submaps::InsertLaserFan(const sensor::LaserFan& laser_fan) {
   CHECK_LT(num_laser_fans_, std::numeric_limits<int>::max());
   ++num_laser_fans_;
   for (const int index : insertion_indices()) {
diff --git a/cartographer/mapping_2d/submaps.h b/cartographer/mapping_2d/submaps.h
index 1c397af..d035ea9 100644
--- a/cartographer/mapping_2d/submaps.h
+++ b/cartographer/mapping_2d/submaps.h
@@ -64,7 +64,7 @@ class Submaps : public mapping::Submaps {
       mapping::proto::SubmapQuery::Response* response) override;
 
   // Inserts 'laser_fan' into the Submap collection.
-  void InsertLaserFan(const sensor::LaserFan3D& laser_fan);
+  void InsertLaserFan(const sensor::LaserFan& laser_fan);
 
  private:
   void FinishSubmap(int index);
diff --git a/cartographer/mapping_3d/global_trajectory_builder.cc b/cartographer/mapping_3d/global_trajectory_builder.cc
index 77f058f..a38b175 100644
--- a/cartographer/mapping_3d/global_trajectory_builder.cc
+++ b/cartographer/mapping_3d/global_trajectory_builder.cc
@@ -49,8 +49,8 @@ void GlobalTrajectoryBuilder::AddImuData(
   sparse_pose_graph_->AddImuData(time, linear_acceleration, angular_velocity);
 }
 
-void GlobalTrajectoryBuilder::AddLaserFan3D(
-    const common::Time time, const sensor::LaserFan3D& laser_fan) {
+void GlobalTrajectoryBuilder::AddLaserFan3D(const common::Time time,
+                                            const sensor::LaserFan& laser_fan) {
   auto insertion_result =
       local_trajectory_builder_->AddLaserFan3D(time, laser_fan);
 
diff --git a/cartographer/mapping_3d/global_trajectory_builder.h b/cartographer/mapping_3d/global_trajectory_builder.h
index 79537c5..b96db59 100644
--- a/cartographer/mapping_3d/global_trajectory_builder.h
+++ b/cartographer/mapping_3d/global_trajectory_builder.h
@@ -43,13 +43,13 @@ class GlobalTrajectoryBuilder
   void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
                   const Eigen::Vector3d& angular_velocity) override;
   void AddLaserFan3D(common::Time time,
-                     const sensor::LaserFan3D& laser_fan) override;
+                     const sensor::LaserFan& laser_fan) override;
   void AddOdometerPose(
       common::Time time, const transform::Rigid3d& pose,
       const kalman_filter::PoseCovariance& covariance) override;
   const PoseEstimate& pose_estimate() const override;
 
-  void AddHorizontalLaserFan(common::Time, const sensor::LaserFan3D&) override {
+  void AddHorizontalLaserFan(common::Time, const sensor::LaserFan&) override {
     LOG(FATAL) << "Not implemented.";
   }
 
diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc
index 7f3d829..81e26ad 100644
--- a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc
+++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc
@@ -74,8 +74,8 @@ void KalmanLocalTrajectoryBuilder::AddImuData(
 }
 
 std::unique_ptr<KalmanLocalTrajectoryBuilder::InsertionResult>
-KalmanLocalTrajectoryBuilder::AddLaserFan3D(
-    const common::Time time, const sensor::LaserFan3D& laser_fan) {
+KalmanLocalTrajectoryBuilder::AddLaserFan3D(const common::Time time,
+                                            const sensor::LaserFan& laser_fan) {
   if (!pose_tracker_) {
     LOG(INFO) << "PoseTracker not yet initialized.";
     return nullptr;
@@ -87,14 +87,13 @@ KalmanLocalTrajectoryBuilder::AddLaserFan3D(
       time, &pose_prediction, &unused_covariance_prediction);
   if (num_accumulated_ == 0) {
     first_pose_prediction_ = pose_prediction.cast<float>();
-    accumulated_laser_fan_ =
-        sensor::LaserFan3D{Eigen::Vector3f::Zero(), {}, {}};
+    accumulated_laser_fan_ = sensor::LaserFan{Eigen::Vector3f::Zero(), {}, {}};
   }
 
   const transform::Rigid3f tracking_delta =
       first_pose_prediction_.inverse() * pose_prediction.cast<float>();
-  const sensor::LaserFan3D laser_fan_in_first_tracking =
-      sensor::TransformLaserFan3D(laser_fan, tracking_delta);
+  const sensor::LaserFan laser_fan_in_first_tracking =
+      sensor::TransformLaserFan(laser_fan, tracking_delta);
   for (const Eigen::Vector3f& laser_return :
        laser_fan_in_first_tracking.returns) {
     const Eigen::Vector3f delta =
@@ -117,17 +116,17 @@ KalmanLocalTrajectoryBuilder::AddLaserFan3D(
 
   if (num_accumulated_ >= options_.scans_per_accumulation()) {
     num_accumulated_ = 0;
-    return AddAccumulatedLaserFan3D(
-        time, sensor::TransformLaserFan3D(accumulated_laser_fan_,
-                                          tracking_delta.inverse()));
+    return AddAccumulatedLaserFan(
+        time, sensor::TransformLaserFan(accumulated_laser_fan_,
+                                        tracking_delta.inverse()));
   }
   return nullptr;
 }
 
 std::unique_ptr<KalmanLocalTrajectoryBuilder::InsertionResult>
-KalmanLocalTrajectoryBuilder::AddAccumulatedLaserFan3D(
-    const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking) {
-  const sensor::LaserFan3D filtered_laser_fan = {
+KalmanLocalTrajectoryBuilder::AddAccumulatedLaserFan(
+    const common::Time time, const sensor::LaserFan& laser_fan_in_tracking) {
+  const sensor::LaserFan filtered_laser_fan = {
       laser_fan_in_tracking.origin,
       sensor::VoxelFiltered(laser_fan_in_tracking.returns,
                             options_.laser_voxel_filter_size()),
@@ -215,7 +214,7 @@ void KalmanLocalTrajectoryBuilder::AddTrajectoryNodeIndex(
 
 std::unique_ptr<KalmanLocalTrajectoryBuilder::InsertionResult>
 KalmanLocalTrajectoryBuilder::InsertIntoSubmap(
-    const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking,
+    const common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
     const transform::Rigid3d& pose_observation,
     const kalman_filter::PoseCovariance& covariance_estimate) {
   if (motion_filter_.IsSimilar(time, pose_observation)) {
@@ -227,7 +226,7 @@ KalmanLocalTrajectoryBuilder::InsertIntoSubmap(
   for (int insertion_index : submaps_->insertion_indices()) {
     insertion_submaps.push_back(submaps_->Get(insertion_index));
   }
-  submaps_->InsertLaserFan(sensor::TransformLaserFan3D(
+  submaps_->InsertLaserFan(sensor::TransformLaserFan(
       laser_fan_in_tracking, pose_observation.cast<float>()));
   return std::unique_ptr<InsertionResult>(new InsertionResult{
       time, laser_fan_in_tracking, pose_observation, covariance_estimate,
diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.h b/cartographer/mapping_3d/kalman_local_trajectory_builder.h
index cbc6c76..87ba388 100644
--- a/cartographer/mapping_3d/kalman_local_trajectory_builder.h
+++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.h
@@ -49,7 +49,7 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
   void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
                   const Eigen::Vector3d& angular_velocity) override;
   std::unique_ptr<InsertionResult> AddLaserFan3D(
-      common::Time time, const sensor::LaserFan3D& laser_fan) override;
+      common::Time time, const sensor::LaserFan& laser_fan) override;
   void AddOdometerPose(
       common::Time time, const transform::Rigid3d& pose,
       const kalman_filter::PoseCovariance& covariance) override;
@@ -60,11 +60,11 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
   kalman_filter::PoseTracker* pose_tracker() const override;
 
  private:
-  std::unique_ptr<InsertionResult> AddAccumulatedLaserFan3D(
-      common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking);
+  std::unique_ptr<InsertionResult> AddAccumulatedLaserFan(
+      common::Time time, const sensor::LaserFan& laser_fan_in_tracking);
 
   std::unique_ptr<InsertionResult> InsertIntoSubmap(
-      const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking,
+      const common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
       const transform::Rigid3d& pose_observation,
       const kalman_filter::PoseCovariance& covariance_estimate);
 
@@ -85,7 +85,7 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
 
   int num_accumulated_;
   transform::Rigid3f first_pose_prediction_;
-  sensor::LaserFan3D accumulated_laser_fan_;
+  sensor::LaserFan accumulated_laser_fan_;
 };
 
 }  // namespace mapping_3d
diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc
index 505b868..ffa99ce 100644
--- a/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc
+++ b/cartographer/mapping_3d/kalman_local_trajectory_builder_test.cc
@@ -186,7 +186,7 @@ class KalmanLocalTrajectoryBuilderTest : public ::testing::Test {
     return first * (to - from) + from;
   }
 
-  sensor::LaserFan3D GenerateLaserFan(const transform::Rigid3d& pose) {
+  sensor::LaserFan GenerateLaserFan(const transform::Rigid3d& pose) {
     // 360 degree rays at 16 angles.
     sensor::PointCloud directions_in_laser_frame;
     for (int r = -8; r != 8; ++r) {
diff --git a/cartographer/mapping_3d/laser_fan_inserter.cc b/cartographer/mapping_3d/laser_fan_inserter.cc
index 979b358..58a9d92 100644
--- a/cartographer/mapping_3d/laser_fan_inserter.cc
+++ b/cartographer/mapping_3d/laser_fan_inserter.cc
@@ -76,7 +76,7 @@ LaserFanInserter::LaserFanInserter(
       miss_table_(mapping::ComputeLookupTableToApplyOdds(
           mapping::Odds(options_.miss_probability()))) {}
 
-void LaserFanInserter::Insert(const sensor::LaserFan3D& laser_fan,
+void LaserFanInserter::Insert(const sensor::LaserFan& laser_fan,
                               HybridGrid* hybrid_grid) const {
   CHECK_NOTNULL(hybrid_grid)->StartUpdate();
 
diff --git a/cartographer/mapping_3d/laser_fan_inserter.h b/cartographer/mapping_3d/laser_fan_inserter.h
index 05736e0..8b95bd5 100644
--- a/cartographer/mapping_3d/laser_fan_inserter.h
+++ b/cartographer/mapping_3d/laser_fan_inserter.h
@@ -36,8 +36,7 @@ class LaserFanInserter {
   LaserFanInserter& operator=(const LaserFanInserter&) = delete;
 
   // Inserts 'laser_fan' into 'hybrid_grid'.
-  void Insert(const sensor::LaserFan3D& laser_fan,
-              HybridGrid* hybrid_grid) const;
+  void Insert(const sensor::LaserFan& laser_fan, HybridGrid* hybrid_grid) const;
 
  private:
   const proto::LaserFanInserterOptions options_;
diff --git a/cartographer/mapping_3d/laser_fan_inserter_test.cc b/cartographer/mapping_3d/laser_fan_inserter_test.cc
index a2cbfcb..d333267 100644
--- a/cartographer/mapping_3d/laser_fan_inserter_test.cc
+++ b/cartographer/mapping_3d/laser_fan_inserter_test.cc
@@ -46,7 +46,7 @@ class LaserFanInserterTest : public ::testing::Test {
                                         {-1.5f, 0.5f, 4.5f},
                                         {-0.5f, 1.5f, 4.5f},
                                         {0.5f, 2.5f, 4.5f}};
-    laser_fan_inserter_->Insert(sensor::LaserFan3D{origin, laser_returns, {}},
+    laser_fan_inserter_->Insert(sensor::LaserFan{origin, laser_returns, {}},
                                 &hybrid_grid_);
   }
 
diff --git a/cartographer/mapping_3d/local_trajectory_builder_interface.h b/cartographer/mapping_3d/local_trajectory_builder_interface.h
index ec4d6b7..e8918ff 100644
--- a/cartographer/mapping_3d/local_trajectory_builder_interface.h
+++ b/cartographer/mapping_3d/local_trajectory_builder_interface.h
@@ -35,7 +35,7 @@ class LocalTrajectoryBuilderInterface {
 
   struct InsertionResult {
     common::Time time;
-    sensor::LaserFan3D laser_fan_in_tracking;
+    sensor::LaserFan laser_fan_in_tracking;
     transform::Rigid3d pose_observation;
     kalman_filter::PoseCovariance covariance_estimate;
     const Submaps* submaps;
@@ -54,7 +54,7 @@ class LocalTrajectoryBuilderInterface {
                           const Eigen::Vector3d& linear_acceleration,
                           const Eigen::Vector3d& angular_velocity) = 0;
   virtual std::unique_ptr<InsertionResult> AddLaserFan3D(
-      common::Time time, const sensor::LaserFan3D& laser_fan) = 0;
+      common::Time time, const sensor::LaserFan& laser_fan) = 0;
   virtual void AddOdometerPose(
       common::Time time, const transform::Rigid3d& pose,
       const kalman_filter::PoseCovariance& covariance) = 0;
diff --git a/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc b/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc
index cc4c43f..9bd78eb 100644
--- a/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc
+++ b/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc
@@ -134,7 +134,7 @@ void OptimizingLocalTrajectoryBuilder::AddOdometerPose(
 
 std::unique_ptr<OptimizingLocalTrajectoryBuilder::InsertionResult>
 OptimizingLocalTrajectoryBuilder::AddLaserFan3D(
-    const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking) {
+    const common::Time time, const sensor::LaserFan& laser_fan_in_tracking) {
   CHECK_GT(laser_fan_in_tracking.returns.size(), 0);
 
   // TODO(hrapp): Handle misses.
@@ -335,7 +335,7 @@ OptimizingLocalTrajectoryBuilder::MaybeOptimize(const common::Time time) {
   num_accumulated_ = 0;
 
   const transform::Rigid3d optimized_pose = batches_.back().state.ToRigid();
-  sensor::LaserFan3D accumulated_laser_fan_in_tracking = {
+  sensor::LaserFan accumulated_laser_fan_in_tracking = {
       Eigen::Vector3f::Zero(), {}, {}};
 
   for (const auto& batch : batches_) {
@@ -346,15 +346,15 @@ OptimizingLocalTrajectoryBuilder::MaybeOptimize(const common::Time time) {
     }
   }
 
-  return AddAccumulatedLaserFan3D(time, optimized_pose,
-                                  accumulated_laser_fan_in_tracking);
+  return AddAccumulatedLaserFan(time, optimized_pose,
+                                accumulated_laser_fan_in_tracking);
 }
 
 std::unique_ptr<OptimizingLocalTrajectoryBuilder::InsertionResult>
-OptimizingLocalTrajectoryBuilder::AddAccumulatedLaserFan3D(
+OptimizingLocalTrajectoryBuilder::AddAccumulatedLaserFan(
     const common::Time time, const transform::Rigid3d& optimized_pose,
-    const sensor::LaserFan3D& laser_fan_in_tracking) {
-  const sensor::LaserFan3D filtered_laser_fan = {
+    const sensor::LaserFan& laser_fan_in_tracking) {
+  const sensor::LaserFan filtered_laser_fan = {
       laser_fan_in_tracking.origin,
       sensor::VoxelFiltered(laser_fan_in_tracking.returns,
                             options_.laser_voxel_filter_size()),
@@ -393,7 +393,7 @@ void OptimizingLocalTrajectoryBuilder::AddTrajectoryNodeIndex(
 
 std::unique_ptr<OptimizingLocalTrajectoryBuilder::InsertionResult>
 OptimizingLocalTrajectoryBuilder::InsertIntoSubmap(
-    const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking,
+    const common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
     const transform::Rigid3d& pose_observation,
     const kalman_filter::PoseCovariance& covariance_estimate) {
   if (motion_filter_.IsSimilar(time, pose_observation)) {
@@ -405,7 +405,7 @@ OptimizingLocalTrajectoryBuilder::InsertIntoSubmap(
   for (int insertion_index : submaps_->insertion_indices()) {
     insertion_submaps.push_back(submaps_->Get(insertion_index));
   }
-  submaps_->InsertLaserFan(sensor::TransformLaserFan3D(
+  submaps_->InsertLaserFan(sensor::TransformLaserFan(
       laser_fan_in_tracking, pose_observation.cast<float>()));
   return std::unique_ptr<InsertionResult>(new InsertionResult{
       time, laser_fan_in_tracking, pose_observation, covariance_estimate,
diff --git a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h
index 28411d0..1d5d9bd 100644
--- a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h
+++ b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h
@@ -54,7 +54,7 @@ class OptimizingLocalTrajectoryBuilder
                   const Eigen::Vector3d& angular_velocity) override;
   std::unique_ptr<InsertionResult> AddLaserFan3D(
       common::Time time,
-      const sensor::LaserFan3D& laser_fan_in_tracking) override;
+      const sensor::LaserFan& laser_fan_in_tracking) override;
 
   void AddOdometerPose(
       const common::Time time, const transform::Rigid3d& pose,
@@ -106,12 +106,12 @@ class OptimizingLocalTrajectoryBuilder
 
   void RemoveObsoleteSensorData();
 
-  std::unique_ptr<InsertionResult> AddAccumulatedLaserFan3D(
+  std::unique_ptr<InsertionResult> AddAccumulatedLaserFan(
       common::Time time, const transform::Rigid3d& pose_observation,
-      const sensor::LaserFan3D& laser_fan_in_tracking);
+      const sensor::LaserFan& laser_fan_in_tracking);
 
   std::unique_ptr<InsertionResult> InsertIntoSubmap(
-      const common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking,
+      const common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
       const transform::Rigid3d& pose_observation,
       const kalman_filter::PoseCovariance& covariance_estimate);
 
diff --git a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc
index e10f434..f41487d 100644
--- a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc
+++ b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_test.cc
@@ -89,12 +89,11 @@ TEST(FastCorrelativeScanMatcherTest, CorrectPose) {
     HybridGrid hybrid_grid(0.05f /* resolution */,
                            Eigen::Vector3f(0.5f, 1.5f, 2.5f) /* origin */);
     hybrid_grid.StartUpdate();
-    laser_fan_inserter.Insert(
-        sensor::LaserFan3D{
-            expected_pose.translation(),
-            sensor::TransformPointCloud(point_cloud, expected_pose),
-            {}},
-        &hybrid_grid);
+    laser_fan_inserter.Insert(sensor::LaserFan{expected_pose.translation(),
+                                               sensor::TransformPointCloud(
+                                                   point_cloud, expected_pose),
+                                               {}},
+                              &hybrid_grid);
 
     FastCorrelativeScanMatcher fast_correlative_scan_matcher(hybrid_grid, {},
                                                              options);
diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc
index e5e5a63..995f7c9 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph.cc
@@ -83,7 +83,7 @@ void SparsePoseGraph::GrowSubmapTransformsAsNeeded(
 }
 
 int SparsePoseGraph::AddScan(
-    common::Time time, const sensor::LaserFan3D& laser_fan_in_tracking,
+    common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
     const transform::Rigid3d& pose,
     const kalman_filter::PoseCovariance& covariance, const Submaps* submaps,
     const Submap* const matching_submap,
@@ -96,7 +96,7 @@ int SparsePoseGraph::AddScan(
   CHECK_LT(j, std::numeric_limits<int>::max());
 
   constant_node_data_->push_back(mapping::TrajectoryNode::ConstantData{
-      time, sensor::LaserFan3D{Eigen::Vector3f::Zero(), {}, {}},
+      time, sensor::LaserFan{Eigen::Vector3f::Zero(), {}, {}},
       sensor::Compress(laser_fan_in_tracking), submaps,
       transform::Rigid3d::Identity()});
   trajectory_nodes_.push_back(
diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h
index 3e2b3bb..def9e0c 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.h
+++ b/cartographer/mapping_3d/sparse_pose_graph.h
@@ -70,8 +70,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   // against the 'matching_submap' and the scan was inserted into the
   // 'insertion_submaps'. The index into the vector of trajectory nodes as
   // used with GetTrajectoryNodes() is returned.
-  int AddScan(common::Time time,
-              const sensor::LaserFan3D& laser_fan_in_tracking,
+  int AddScan(common::Time time, const sensor::LaserFan& laser_fan_in_tracking,
               const transform::Rigid3d& pose,
               const kalman_filter::PoseCovariance& pose_covariance,
               const Submaps* submaps, const Submap* matching_submap,
diff --git a/cartographer/mapping_3d/submaps.cc b/cartographer/mapping_3d/submaps.cc
index d41d3de..0e532c9 100644
--- a/cartographer/mapping_3d/submaps.cc
+++ b/cartographer/mapping_3d/submaps.cc
@@ -39,16 +39,17 @@ struct LaserSegment {
 
 // We compute a slice around the xy-plane. 'transform' is applied to the laser
 // rays in global map frame to allow choosing an arbitrary slice.
-void GenerateSegmentForSlice(const sensor::LaserFan3D& laser_fan_3d,
+void GenerateSegmentForSlice(const sensor::LaserFan& laser_fan,
                              const transform::Rigid3f& pose,
                              const transform::Rigid3f& transform,
                              std::vector<LaserSegment>* segments) {
-  const sensor::LaserFan3D laser_fan =
-      sensor::TransformLaserFan3D(laser_fan_3d, transform * pose);
-  segments->reserve(laser_fan.returns.size());
-  for (const Eigen::Vector3f& hit : laser_fan.returns) {
-    const Eigen::Vector2f laser_origin_xy = laser_fan.origin.head<2>();
-    const float laser_origin_z = laser_fan.origin.z();
+  const sensor::LaserFan transformed_laser_fan =
+      sensor::TransformLaserFan(laser_fan, transform * pose);
+  segments->reserve(transformed_laser_fan.returns.size());
+  for (const Eigen::Vector3f& hit : transformed_laser_fan.returns) {
+    const Eigen::Vector2f laser_origin_xy =
+        transformed_laser_fan.origin.head<2>();
+    const float laser_origin_z = transformed_laser_fan.origin.z();
     const float delta_z = hit.z() - laser_origin_z;
     const Eigen::Vector2f delta_xy = hit.head<2>() - laser_origin_xy;
     if (laser_origin_z < -kSliceHalfHeight) {
@@ -181,12 +182,12 @@ void InsertSegmentsIntoProbabilityGrid(
 }  // namespace
 
 void InsertIntoProbabilityGrid(
-    const sensor::LaserFan3D& laser_fan_3d, const transform::Rigid3f& pose,
+    const sensor::LaserFan& laser_fan, const transform::Rigid3f& pose,
     const float slice_z, const mapping_2d::LaserFanInserter& laser_fan_inserter,
     mapping_2d::ProbabilityGrid* result) {
   std::vector<LaserSegment> segments;
   GenerateSegmentForSlice(
-      laser_fan_3d, pose,
+      laser_fan, pose,
       transform::Rigid3f::Translation(-slice_z * Eigen::Vector3f::UnitZ()),
       &segments);
   InsertSegmentsIntoProbabilityGrid(segments, laser_fan_inserter.hit_table(),
@@ -265,7 +266,7 @@ void Submaps::SubmapToProto(
                              global_submap_pose.translation().z())));
 }
 
-void Submaps::InsertLaserFan(const sensor::LaserFan3D& laser_fan) {
+void Submaps::InsertLaserFan(const sensor::LaserFan& laser_fan) {
   CHECK_LT(num_laser_fans_, std::numeric_limits<int>::max());
   ++num_laser_fans_;
   for (const int index : insertion_indices()) {
diff --git a/cartographer/mapping_3d/submaps.h b/cartographer/mapping_3d/submaps.h
index d71553d..961946f 100644
--- a/cartographer/mapping_3d/submaps.h
+++ b/cartographer/mapping_3d/submaps.h
@@ -36,7 +36,7 @@ namespace cartographer {
 namespace mapping_3d {
 
 void InsertIntoProbabilityGrid(
-    const sensor::LaserFan3D& laser_fan_3d, const transform::Rigid3f& pose,
+    const sensor::LaserFan& laser_fan, const transform::Rigid3f& pose,
     const float slice_z, const mapping_2d::LaserFanInserter& laser_fan_inserter,
     mapping_2d::ProbabilityGrid* result);
 
@@ -69,7 +69,7 @@ class Submaps : public mapping::Submaps {
       mapping::proto::SubmapQuery::Response* response) override;
 
   // Inserts 'laser_fan' into the Submap collection.
-  void InsertLaserFan(const sensor::LaserFan3D& laser_fan);
+  void InsertLaserFan(const sensor::LaserFan& laser_fan);
 
   // Returns the 'high_resolution' HybridGrid to be used for matching.
   const HybridGrid& high_resolution_matching_grid() const;
diff --git a/cartographer/sensor/data.h b/cartographer/sensor/data.h
index 44084bf..1b693fb 100644
--- a/cartographer/sensor/data.h
+++ b/cartographer/sensor/data.h
@@ -30,7 +30,7 @@ namespace sensor {
 // filled in. It is only used for time ordering sensor data before passing it
 // on.
 struct Data {
-  enum class Type { kImu, kLaserFan3D, kOdometry };
+  enum class Type { kImu, kLaserFan, kOdometry };
 
   struct Odometry {
     transform::Rigid3d pose;
@@ -46,10 +46,8 @@ struct Data {
       : type(Type::kImu), frame_id(frame_id), imu(imu) {}
 
   Data(const string& frame_id,
-       const ::cartographer::sensor::LaserFan3D& laser_fan_3d)
-      : type(Type::kLaserFan3D),
-        frame_id(frame_id),
-        laser_fan_3d(laser_fan_3d) {}
+       const ::cartographer::sensor::LaserFan& laser_fan)
+      : type(Type::kLaserFan), frame_id(frame_id), laser_fan(laser_fan) {}
 
   Data(const string& frame_id, const Odometry& odometry)
       : type(Type::kOdometry), frame_id(frame_id), odometry(odometry) {}
@@ -57,7 +55,7 @@ struct Data {
   Type type;
   string frame_id;
   Imu imu;
-  sensor::LaserFan3D laser_fan_3d;
+  sensor::LaserFan laser_fan;
   Odometry odometry;
 };
 
diff --git a/cartographer/sensor/laser.cc b/cartographer/sensor/laser.cc
index 2373ae5..46a81e6 100644
--- a/cartographer/sensor/laser.cc
+++ b/cartographer/sensor/laser.cc
@@ -37,13 +37,13 @@ std::vector<uint8> ReorderReflectivities(
 
 }  // namespace
 
-LaserFan3D ToLaserFan3D(const proto::LaserScan& proto, const float min_range,
-                        const float max_range,
-                        const float missing_echo_ray_length) {
+LaserFan ToLaserFan(const proto::LaserScan& proto, const float min_range,
+                    const float max_range,
+                    const float missing_echo_ray_length) {
   CHECK_GE(min_range, 0.f);
   CHECK_GT(proto.angle_increment(), 0.f);
   CHECK_GT(proto.angle_max(), proto.angle_min());
-  LaserFan3D laser_fan = {Eigen::Vector3f::Zero(), {}, {}};
+  LaserFan laser_fan = {Eigen::Vector3f::Zero(), {}, {}};
   float angle = proto.angle_min();
   for (const auto& range : proto.range()) {
     if (range.value_size() > 0) {
@@ -64,8 +64,8 @@ LaserFan3D ToLaserFan3D(const proto::LaserScan& proto, const float min_range,
   return laser_fan;
 }
 
-proto::LaserFan3D ToProto(const LaserFan3D& laser_fan) {
-  proto::LaserFan3D proto;
+proto::LaserFan ToProto(const LaserFan& laser_fan) {
+  proto::LaserFan proto;
   *proto.mutable_origin() = transform::ToProto(laser_fan.origin);
   *proto.mutable_point_cloud() = ToProto(laser_fan.returns);
   *proto.mutable_missing_echo_point_cloud() = ToProto(laser_fan.misses);
@@ -74,19 +74,19 @@ proto::LaserFan3D ToProto(const LaserFan3D& laser_fan) {
   return proto;
 }
 
-LaserFan3D FromProto(const proto::LaserFan3D& proto) {
-  auto laser_fan_3d = LaserFan3D{
+LaserFan FromProto(const proto::LaserFan& proto) {
+  auto laser_fan = LaserFan{
       transform::ToEigen(proto.origin()), ToPointCloud(proto.point_cloud()),
       ToPointCloud(proto.missing_echo_point_cloud()),
   };
   std::copy(proto.reflectivity().begin(), proto.reflectivity().end(),
-            std::back_inserter(laser_fan_3d.reflectivities));
-  return laser_fan_3d;
+            std::back_inserter(laser_fan.reflectivities));
+  return laser_fan;
 }
 
-LaserFan3D TransformLaserFan3D(const LaserFan3D& laser_fan,
-                               const transform::Rigid3f& transform) {
-  return LaserFan3D{
+LaserFan TransformLaserFan(const LaserFan& laser_fan,
+                           const transform::Rigid3f& transform) {
+  return LaserFan{
       transform * laser_fan.origin,
       TransformPointCloud(laser_fan.returns, transform),
       TransformPointCloud(laser_fan.misses, transform),
@@ -94,9 +94,9 @@ LaserFan3D TransformLaserFan3D(const LaserFan3D& laser_fan,
   };
 }
 
-LaserFan3D FilterLaserFanByMaxRange(const LaserFan3D& laser_fan,
-                                    const float max_range) {
-  LaserFan3D result{laser_fan.origin, {}, {}, {}};
+LaserFan FilterLaserFanByMaxRange(const LaserFan& laser_fan,
+                                  const float max_range) {
+  LaserFan result{laser_fan.origin, {}, {}, {}};
   for (const Eigen::Vector3f& return_ : laser_fan.returns) {
     if ((return_ - laser_fan.origin).norm() <= max_range) {
       result.returns.push_back(return_);
@@ -105,28 +105,28 @@ LaserFan3D FilterLaserFanByMaxRange(const LaserFan3D& laser_fan,
   return result;
 }
 
-LaserFan3D CropLaserFan(const LaserFan3D& laser_fan, const float min_z,
-                        const float max_z) {
-  return LaserFan3D{laser_fan.origin, Crop(laser_fan.returns, min_z, max_z),
-                    Crop(laser_fan.misses, min_z, max_z)};
+LaserFan CropLaserFan(const LaserFan& laser_fan, const float min_z,
+                      const float max_z) {
+  return LaserFan{laser_fan.origin, Crop(laser_fan.returns, min_z, max_z),
+                  Crop(laser_fan.misses, min_z, max_z)};
 }
 
-CompressedLaserFan3D Compress(const LaserFan3D& laser_fan) {
+CompressedLaserFan Compress(const LaserFan& laser_fan) {
   std::vector<int> new_to_old;
   CompressedPointCloud compressed_returns =
       CompressedPointCloud::CompressAndReturnOrder(laser_fan.returns,
                                                    &new_to_old);
-  return CompressedLaserFan3D{
+  return CompressedLaserFan{
       laser_fan.origin, std::move(compressed_returns),
       CompressedPointCloud(laser_fan.misses),
       ReorderReflectivities(laser_fan.reflectivities, new_to_old)};
 }
 
-LaserFan3D Decompress(const CompressedLaserFan3D& compressed_laser_fan) {
-  return LaserFan3D{compressed_laser_fan.origin,
-                    compressed_laser_fan.returns.Decompress(),
-                    compressed_laser_fan.misses.Decompress(),
-                    compressed_laser_fan.reflectivities};
+LaserFan Decompress(const CompressedLaserFan& compressed_laser_fan) {
+  return LaserFan{compressed_laser_fan.origin,
+                  compressed_laser_fan.returns.Decompress(),
+                  compressed_laser_fan.misses.Decompress(),
+                  compressed_laser_fan.reflectivities};
 }
 
 }  // namespace sensor
diff --git a/cartographer/sensor/laser.h b/cartographer/sensor/laser.h
index 5bec2dd..0d511f3 100644
--- a/cartographer/sensor/laser.h
+++ b/cartographer/sensor/laser.h
@@ -29,7 +29,7 @@ namespace sensor {
 // where laser returns were detected. 'misses' are points in the direction of
 // rays for which no return was detected, and were inserted at a configured
 // distance. It is assumed that between the 'origin' and 'misses' is free space.
-struct LaserFan3D {
+struct LaserFan {
   Eigen::Vector3f origin;
   PointCloud returns;
   PointCloud misses;
@@ -42,30 +42,29 @@ struct LaserFan3D {
 // the range ['min_range', 'max_range']. Beams beyond 'max_range' are inserted
 // into the 'misses' point cloud with length 'missing_echo_ray_length'. The
 // points in both clouds are stored in scan order.
-LaserFan3D ToLaserFan3D(const proto::LaserScan& proto, float min_range,
-                        float max_range, float missing_echo_ray_length);
+LaserFan ToLaserFan(const proto::LaserScan& proto, float min_range,
+                    float max_range, float missing_echo_ray_length);
 
-// Converts 3D 'laser_fan' to a proto::LaserFan3D.
-proto::LaserFan3D ToProto(const LaserFan3D& laser_fan);
+// Converts 3D 'laser_fan' to a proto::LaserFan.
+proto::LaserFan ToProto(const LaserFan& laser_fan);
 
-// Converts 'proto' to a LaserFan3D.
-LaserFan3D FromProto(const proto::LaserFan3D& proto);
+// Converts 'proto' to a LaserFan.
+LaserFan FromProto(const proto::LaserFan& proto);
 
-LaserFan3D TransformLaserFan3D(const LaserFan3D& laser_fan,
-                               const transform::Rigid3f& transform);
+LaserFan TransformLaserFan(const LaserFan& laser_fan,
+                           const transform::Rigid3f& transform);
 
 // Filter a 'laser_fan', retaining only the returns that have no more than
 // 'max_range' distance from the laser origin. Removes misses and reflectivity
 // information.
-LaserFan3D FilterLaserFanByMaxRange(const LaserFan3D& laser_fan,
-                                    float max_range);
+LaserFan FilterLaserFanByMaxRange(const LaserFan& laser_fan, float max_range);
 
 // Crops 'laser_fan' according to the region defined by 'min_z' and 'max_z'.
-LaserFan3D CropLaserFan(const LaserFan3D& laser_fan, float min_z, float max_z);
+LaserFan CropLaserFan(const LaserFan& laser_fan, float min_z, float max_z);
 
-// Like LaserFan3D but with compressed point clouds. The point order changes
-// when converting from LaserFan3D.
-struct CompressedLaserFan3D {
+// Like LaserFan but with compressed point clouds. The point order changes
+// when converting from LaserFan.
+struct CompressedLaserFan {
   Eigen::Vector3f origin;
   CompressedPointCloud returns;
   CompressedPointCloud misses;
@@ -74,9 +73,9 @@ struct CompressedLaserFan3D {
   std::vector<uint8> reflectivities;
 };
 
-CompressedLaserFan3D Compress(const LaserFan3D& laser_fan);
+CompressedLaserFan Compress(const LaserFan& laser_fan);
 
-LaserFan3D Decompress(const CompressedLaserFan3D& compressed_laser_fan);
+LaserFan Decompress(const CompressedLaserFan& compressed_laser_fan);
 
 }  // namespace sensor
 }  // namespace cartographer
diff --git a/cartographer/sensor/laser_test.cc b/cartographer/sensor/laser_test.cc
index d031a05..6331e45 100644
--- a/cartographer/sensor/laser_test.cc
+++ b/cartographer/sensor/laser_test.cc
@@ -28,7 +28,7 @@ namespace {
 using ::testing::Contains;
 using ::testing::PrintToString;
 
-TEST(ProjectorTest, ToLaserFan3D) {
+TEST(ProjectorTest, ToLaserFan) {
   proto::LaserScan laser_scan;
   for (int i = 0; i < 8; ++i) {
     laser_scan.add_range()->add_value(1.f);
@@ -37,7 +37,7 @@ TEST(ProjectorTest, ToLaserFan3D) {
   laser_scan.set_angle_max(8.f * static_cast<float>(M_PI_4));
   laser_scan.set_angle_increment(static_cast<float>(M_PI_4));
 
-  const LaserFan3D fan = ToLaserFan3D(laser_scan, 0.f, 10.f, 1.f);
+  const LaserFan fan = ToLaserFan(laser_scan, 0.f, 10.f, 1.f);
   EXPECT_TRUE(fan.returns[0].isApprox(Eigen::Vector3f(1.f, 0.f, 0.f), 1e-6));
   EXPECT_TRUE(fan.returns[1].isApprox(
       Eigen::Vector3f(1.f / std::sqrt(2.f), 1.f / std::sqrt(2.f), 0.f), 1e-6));
@@ -53,7 +53,7 @@ TEST(ProjectorTest, ToLaserFan3D) {
       Eigen::Vector3f(1.f / std::sqrt(2.f), -1.f / std::sqrt(2.f), 0.f), 1e-6));
 }
 
-TEST(ProjectorTest, ToLaserFan3DWithInfinityAndNaN) {
+TEST(ProjectorTest, ToLaserFanWithInfinityAndNaN) {
   proto::LaserScan laser_scan;
   laser_scan.add_range()->add_value(1.f);
   laser_scan.add_range()->add_value(std::numeric_limits<float>::infinity());
@@ -64,7 +64,7 @@ TEST(ProjectorTest, ToLaserFan3DWithInfinityAndNaN) {
   laser_scan.set_angle_max(3.f * static_cast<float>(M_PI_4));
   laser_scan.set_angle_increment(static_cast<float>(M_PI_4));
 
-  const LaserFan3D fan = ToLaserFan3D(laser_scan, 2.f, 10.f, 1.f);
+  const LaserFan fan = ToLaserFan(laser_scan, 2.f, 10.f, 1.f);
   ASSERT_EQ(2, fan.returns.size());
   EXPECT_TRUE(fan.returns[0].isApprox(Eigen::Vector3f(0.f, 2.f, 0.f), 1e-6));
   EXPECT_TRUE(fan.returns[1].isApprox(Eigen::Vector3f(-3.f, 0.f, 0.f), 1e-6));
@@ -82,12 +82,12 @@ MATCHER_P(PairApproximatelyEquals, expected,
 }
 
 TEST(LaserTest, Compression) {
-  LaserFan3D fan = {Eigen::Vector3f(1, 1, 1),
-                    {Eigen::Vector3f(0, 1, 2), Eigen::Vector3f(4, 5, 6),
-                     Eigen::Vector3f(0, 1, 2)},
-                    {Eigen::Vector3f(7, 8, 9)},
-                    {1, 2, 3}};
-  LaserFan3D actual = Decompress(Compress(fan));
+  LaserFan fan = {Eigen::Vector3f(1, 1, 1),
+                  {Eigen::Vector3f(0, 1, 2), Eigen::Vector3f(4, 5, 6),
+                   Eigen::Vector3f(0, 1, 2)},
+                  {Eigen::Vector3f(7, 8, 9)},
+                  {1, 2, 3}};
+  LaserFan actual = Decompress(Compress(fan));
   EXPECT_TRUE(actual.origin.isApprox(Eigen::Vector3f(1, 1, 1), 1e-6));
   EXPECT_EQ(3, actual.returns.size());
   EXPECT_EQ(1, actual.misses.size());
diff --git a/cartographer/sensor/proto/sensor.proto b/cartographer/sensor/proto/sensor.proto
index 614fb7b..fcb2079 100644
--- a/cartographer/sensor/proto/sensor.proto
+++ b/cartographer/sensor/proto/sensor.proto
@@ -69,8 +69,8 @@ message LaserScan {
   repeated Values intensity = 10;
 }
 
-// Proto representation of ::cartographer::sensor::LaserFan3D
-message LaserFan3D {
+// Proto representation of ::cartographer::sensor::LaserFan
+message LaserFan {
   optional transform.proto.Vector3f origin = 1;
   optional PointCloud point_cloud = 2;
   optional PointCloud missing_echo_point_cloud = 3;