diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index 929467b..5d40196 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -27,12 +27,10 @@ namespace mapping_2d {
 proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
   proto::LocalTrajectoryBuilderOptions options;
-  options.set_horizontal_laser_min_z(
-      parameter_dictionary->GetDouble("horizontal_laser_min_z"));
-  options.set_horizontal_laser_max_z(
-      parameter_dictionary->GetDouble("horizontal_laser_max_z"));
-  options.set_horizontal_laser_voxel_filter_size(
-      parameter_dictionary->GetDouble("horizontal_laser_voxel_filter_size"));
+  options.set_laser_min_z(parameter_dictionary->GetDouble("laser_min_z"));
+  options.set_laser_max_z(parameter_dictionary->GetDouble("laser_max_z"));
+  options.set_laser_voxel_filter_size(
+      parameter_dictionary->GetDouble("laser_voxel_filter_size"));
   options.set_use_online_correlative_scan_matching(
       parameter_dictionary->GetBool("use_online_correlative_scan_matching"));
   *options.mutable_adaptive_voxel_filter_options() =
@@ -77,13 +75,13 @@ sensor::LaserFan LocalTrajectoryBuilder::BuildCroppedLaserFan(
     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());
+      options_.laser_min_z(), options_.laser_max_z());
   return sensor::LaserFan{
       cropped_fan.origin,
       sensor::VoxelFiltered(cropped_fan.returns,
-                            options_.horizontal_laser_voxel_filter_size()),
+                            options_.laser_voxel_filter_size()),
       sensor::VoxelFiltered(cropped_fan.misses,
-                            options_.horizontal_laser_voxel_filter_size())};
+                            options_.laser_voxel_filter_size())};
 }
 
 void LocalTrajectoryBuilder::ScanMatch(
diff --git a/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
index fdccb2d..6d2c094 100644
--- a/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
+++ b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
@@ -24,13 +24,13 @@ import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.p
 import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
 
 message LocalTrajectoryBuilderOptions {
-  // Cropping parameters for the horizontal laser fan.
-  optional float horizontal_laser_min_z = 1;
-  optional float horizontal_laser_max_z = 2;
+  // Cropping parameters for the laser fan.
+  optional float laser_min_z = 1;
+  optional float laser_max_z = 2;
 
   // Voxel filter that gets applied to the horizontal laser immediately after
   // cropping.
-  optional float horizontal_laser_voxel_filter_size = 3;
+  optional float laser_voxel_filter_size = 3;
 
   // Whether to solve the online scan matching first using the correlative scan
   // matcher to generate a good starting point for Ceres.
diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua
index c04f537..43d6a74 100644
--- a/configuration_files/trajectory_builder_2d.lua
+++ b/configuration_files/trajectory_builder_2d.lua
@@ -14,9 +14,9 @@
 
 TRAJECTORY_BUILDER_2D = {
   use_imu_data = true,
-  horizontal_laser_min_z = -0.8,
-  horizontal_laser_max_z = 2.,
-  horizontal_laser_voxel_filter_size = 0.025,
+  laser_min_z = -0.8,
+  laser_max_z = 2.,
+  laser_voxel_filter_size = 0.025,
 
   use_online_correlative_scan_matching = false,
   adaptive_voxel_filter = {