diff --git a/cartographer/mapping/internal/optimization/optimization_problem_3d.cc b/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
index 83d1777..f5ca1a1 100644
--- a/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
+++ b/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
@@ -395,14 +395,14 @@ void OptimizationProblem3D::Solve(
         const IntegrateImuResult<double> result = IntegrateImu(
             imu_data, first_node_data.time, second_node_data.time, &imu_it);
         const auto next_node_it = std::next(node_it);
+        const common::Time first_time = first_node_data.time;
+        const common::Time second_time = second_node_data.time;
+        const common::Duration first_duration = second_time - first_time;
         if (next_node_it != trajectory_end &&
             next_node_it->id.node_index == second_node_id.node_index + 1) {
           const NodeId third_node_id = next_node_it->id;
           const NodeSpec3D& third_node_data = next_node_it->data;
-          const common::Time first_time = first_node_data.time;
-          const common::Time second_time = second_node_data.time;
           const common::Time third_time = third_node_data.time;
-          const common::Duration first_duration = second_time - first_time;
           const common::Duration second_duration = third_time - second_time;
           const common::Time first_center = first_time + first_duration / 2;
           const common::Time second_center = second_time + second_duration / 2;
@@ -421,8 +421,9 @@ void OptimizationProblem3D::Solve(
               result_center_to_center.delta_velocity;
           problem.AddResidualBlock(
               AccelerationCostFunction3D::CreateAutoDiffCostFunction(
-                  options_.acceleration_weight(), delta_velocity,
-                  common::ToSeconds(first_duration),
+                  options_.acceleration_weight() /
+                      common::ToSeconds(first_duration + second_duration),
+                  delta_velocity, common::ToSeconds(first_duration),
                   common::ToSeconds(second_duration)),
               nullptr /* loss function */,
               C_nodes.at(second_node_id).rotation(),
@@ -434,7 +435,8 @@ void OptimizationProblem3D::Solve(
         }
         problem.AddResidualBlock(
             RotationCostFunction3D::CreateAutoDiffCostFunction(
-                options_.rotation_weight(), result.delta_rotation),
+                options_.rotation_weight() / common::ToSeconds(first_duration),
+                result.delta_rotation),
             nullptr /* loss function */, C_nodes.at(first_node_id).rotation(),
             C_nodes.at(second_node_id).rotation(),
             trajectory_data.imu_calibration.data());
diff --git a/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc b/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc
index 05bfac5..92abbc6 100644
--- a/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc
+++ b/cartographer/mapping/internal/optimization/optimization_problem_3d_test.cc
@@ -39,8 +39,8 @@ class OptimizationProblem3DTest : public ::testing::Test {
   optimization::proto::OptimizationProblemOptions CreateOptions() {
     auto parameter_dictionary = common::MakeDictionary(R"text(
         return {
-          acceleration_weight = 1e-4,
-          rotation_weight = 1e-2,
+          acceleration_weight = 2e-5,
+          rotation_weight = 1e-3,
           huber_scale = 1.,
           local_slam_pose_translation_weight = 1e-2,
           local_slam_pose_rotation_weight = 1e-2,
@@ -134,7 +134,7 @@ TEST_F(OptimizationProblem3DTest, ReducesNoise) {
                                        Eigen::Vector3d::Zero()});
     optimization_problem_.AddTrajectoryNode(kTrajectoryId,
                                             NodeSpec3D{now, pose, pose});
-    now += common::FromSeconds(0.01);
+    now += common::FromSeconds(0.1);
   }
 
   std::vector<OptimizationProblem3D::Constraint> constraints;
diff --git a/configuration_files/pose_graph.lua b/configuration_files/pose_graph.lua
index 572cd1a..a962641 100644
--- a/configuration_files/pose_graph.lua
+++ b/configuration_files/pose_graph.lua
@@ -63,8 +63,8 @@ POSE_GRAPH = {
   matcher_rotation_weight = 1.6e3,
   optimization_problem = {
     huber_scale = 1e1,
-    acceleration_weight = 1e3,
-    rotation_weight = 3e5,
+    acceleration_weight = 1.1e2,
+    rotation_weight = 1.6e4,
     local_slam_pose_translation_weight = 1e5,
     local_slam_pose_rotation_weight = 1e5,
     odometry_translation_weight = 1e5,