diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
index 73d76d7..503a7a7 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -262,9 +262,6 @@ class PoseGraph2D : public PoseGraph {
   // Set of all frozen trajectories not being optimized.
   std::set<int> frozen_trajectories_ GUARDED_BY(mutex_);
 
-  // Whether or not optimize landmark poses.
-  bool freeze_landmarks_ GUARDED_BY(mutex_) = false;
-
   // Set of all finished trajectories.
   std::set<int> finished_trajectories_ GUARDED_BY(mutex_);
 
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h
index 2d76997..f81d3fb 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.h
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.h
@@ -267,9 +267,6 @@ class PoseGraph3D : public PoseGraph {
   // Set of all frozen trajectories not being optimized.
   std::set<int> frozen_trajectories_ GUARDED_BY(mutex_);
 
-  // Whether or not optimize landmark poses.
-  bool freeze_landmarks_ GUARDED_BY(mutex_) = false;
-
   // Set of all finished trajectories.
   std::set<int> finished_trajectories_ GUARDED_BY(mutex_);