diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
index feda1fa..5286238 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
@@ -62,19 +62,13 @@ LocalTrajectoryBuilder2D::TransformToGravityAlignedFrameAndFilter(
 
 std::unique_ptr<transform::Rigid2d> LocalTrajectoryBuilder2D::ScanMatch(
     const common::Time time, const transform::Rigid2d& pose_prediction,
-    const sensor::RangeData& gravity_aligned_range_data) {
+    const sensor::PointCloud& filtered_gravity_aligned_point_cloud) {
   std::shared_ptr<const Submap2D> matching_submap =
       active_submaps_.submaps().front();
   // The online correlative scan matcher will refine the initial estimate for
   // the Ceres scan matcher.
   transform::Rigid2d initial_ceres_pose = pose_prediction;
-  sensor::AdaptiveVoxelFilter adaptive_voxel_filter(
-      options_.adaptive_voxel_filter_options());
-  const sensor::PointCloud filtered_gravity_aligned_point_cloud =
-      adaptive_voxel_filter.Filter(gravity_aligned_range_data.returns);
-  if (filtered_gravity_aligned_point_cloud.empty()) {
-    return nullptr;
-  }
+
   if (options_.use_online_correlative_scan_matching()) {
     CHECK_EQ(options_.submaps_options().grid_options_2d().grid_type(),
              proto::GridOptions2D_GridType_PROBABILITY_GRID);
@@ -222,9 +216,16 @@ LocalTrajectoryBuilder2D::AddAccumulatedRangeData(
   const transform::Rigid2d pose_prediction = transform::Project2D(
       non_gravity_aligned_pose_prediction * gravity_alignment.inverse());
 
+  const sensor::PointCloud& filtered_gravity_aligned_point_cloud =
+      sensor::AdaptiveVoxelFilter(options_.adaptive_voxel_filter_options())
+          .Filter(gravity_aligned_range_data.returns);
+  if (filtered_gravity_aligned_point_cloud.empty()) {
+    return nullptr;
+  }
+
   // local map frame <- gravity-aligned frame
   std::unique_ptr<transform::Rigid2d> pose_estimate_2d =
-      ScanMatch(time, pose_prediction, gravity_aligned_range_data);
+      ScanMatch(time, pose_prediction, filtered_gravity_aligned_point_cloud);
   if (pose_estimate_2d == nullptr) {
     LOG(WARNING) << "Scan matching failed.";
     return nullptr;
@@ -236,9 +237,9 @@ LocalTrajectoryBuilder2D::AddAccumulatedRangeData(
   sensor::RangeData range_data_in_local =
       TransformRangeData(gravity_aligned_range_data,
                          transform::Embed3D(pose_estimate_2d->cast<float>()));
-  std::unique_ptr<InsertionResult> insertion_result =
-      InsertIntoSubmap(time, range_data_in_local, gravity_aligned_range_data,
-                       pose_estimate, gravity_alignment.rotation());
+  std::unique_ptr<InsertionResult> insertion_result = InsertIntoSubmap(
+      time, range_data_in_local, filtered_gravity_aligned_point_cloud,
+      pose_estimate, gravity_alignment.rotation());
   auto duration = std::chrono::steady_clock::now() - accumulation_started_;
   kLocalSlamLatencyMetric->Set(
       std::chrono::duration_cast<std::chrono::duration<double>>(duration)
@@ -251,7 +252,7 @@ LocalTrajectoryBuilder2D::AddAccumulatedRangeData(
 std::unique_ptr<LocalTrajectoryBuilder2D::InsertionResult>
 LocalTrajectoryBuilder2D::InsertIntoSubmap(
     const common::Time time, const sensor::RangeData& range_data_in_local,
-    const sensor::RangeData& gravity_aligned_range_data,
+    const sensor::PointCloud& filtered_gravity_aligned_point_cloud,
     const transform::Rigid3d& pose_estimate,
     const Eigen::Quaterniond& gravity_alignment) {
   if (motion_filter_.IsSimilar(time, pose_estimate)) {
@@ -266,11 +267,6 @@ LocalTrajectoryBuilder2D::InsertIntoSubmap(
   }
   active_submaps_.InsertRangeData(range_data_in_local);
 
-  sensor::AdaptiveVoxelFilter adaptive_voxel_filter(
-      options_.loop_closure_adaptive_voxel_filter_options());
-  const sensor::PointCloud filtered_gravity_aligned_point_cloud =
-      adaptive_voxel_filter.Filter(gravity_aligned_range_data.returns);
-
   return common::make_unique<InsertionResult>(InsertionResult{
       std::make_shared<const TrajectoryNode::Data>(TrajectoryNode::Data{
           time,
diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
index bfc47b3..068a4a2 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
@@ -83,18 +83,17 @@ class LocalTrajectoryBuilder2D {
   sensor::RangeData TransformToGravityAlignedFrameAndFilter(
       const transform::Rigid3f& transform_to_gravity_aligned_frame,
       const sensor::RangeData& range_data) const;
-
   std::unique_ptr<InsertionResult> InsertIntoSubmap(
       common::Time time, const sensor::RangeData& range_data_in_local,
-      const sensor::RangeData& gravity_aligned_range_data,
+      const sensor::PointCloud& filtered_gravity_aligned_point_cloud,
       const transform::Rigid3d& pose_estimate,
       const Eigen::Quaterniond& gravity_alignment);
 
-  // Scan matches 'gravity_aligned_range_data' and returns the observed pose,
-  // or nullptr on failure.
+  // Scan matches 'filtered_gravity_aligned_point_cloud' and returns the
+  // observed pose, or nullptr on failure.
   std::unique_ptr<transform::Rigid2d> ScanMatch(
       common::Time time, const transform::Rigid2d& pose_prediction,
-      const sensor::RangeData& gravity_aligned_range_data);
+      const sensor::PointCloud& filtered_gravity_aligned_point_cloud);
 
   // Lazily constructs a PoseExtrapolator.
   void InitializeExtrapolator(common::Time time);