diff --git a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
index c8c3136..7334b2d 100644
--- a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
+++ b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
@@ -86,8 +86,8 @@ MATCHER_P3(EqualCellProperties, expected_is_known, expected_tsd,
                std::to_string(expected_tsd) + "\t" +
                std::to_string(expected_weight)) {
   bool result = expected_is_known == arg.is_known_;
-  result = result && (std::abs(expected_tsd - arg.tsd_ < 1e-4));
-  result = result && (std::abs(expected_weight - arg.weight_ < 1e-2));
+  result = result && (std::abs(expected_tsd - arg.tsd_) < 1e-4);
+  result = result && (std::abs(expected_weight - arg.weight_) < 1e-2);
   return result;
 }
 
diff --git a/cartographer/mapping/internal/tsd_value_converter.cc b/cartographer/mapping/internal/tsd_value_converter.cc
index c35f92b..96caea8 100644
--- a/cartographer/mapping/internal/tsd_value_converter.cc
+++ b/cartographer/mapping/internal/tsd_value_converter.cc
@@ -26,10 +26,10 @@ TSDValueConverter::TSDValueConverter(float max_tsd, float max_weight,
       max_weight_(max_weight),
       tsd_resolution_(32766.f / (max_tsd_ - min_tsd_)),
       weight_resolution_(32766.f / (max_weight_ - min_weight_)),
-      value_to_tsd_(conversion_tables->GetConversionTable(unknown_tsd_value_,
-                                                          min_tsd_, max_tsd_)),
+      value_to_tsd_(
+          conversion_tables->GetConversionTable(min_tsd_, min_tsd_, max_tsd_)),
       value_to_weight_(conversion_tables->GetConversionTable(
-          unknown_weight_value_, min_weight_, max_weight)) {}
+          min_weight_, min_weight_, max_weight)) {}
 
 }  // namespace mapping
 }  // namespace cartographer