diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
index 22ec9c9..381fde2 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
@@ -197,7 +197,8 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
     return first * (to - from) + from;
   }
 
-  sensor::TimedRangeData GenerateRangeData(const transform::Rigid3d& pose) {
+  sensor::TimedPointCloudData GeneratePointCloudData(
+      const transform::Rigid3d& pose, const common::Time time) {
     // 360 degree rays at 16 angles.
     sensor::TimedPointCloud directions_in_rangefinder_frame;
     for (int r = -8; r != 8; ++r) {
@@ -237,10 +238,9 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
           0.};
       returns_in_world_frame.push_back(return_point);
     }
-    return {Eigen::Vector3f::Zero(),
+    return {time, Eigen::Vector3f::Zero(),
             sensor::TransformTimedPointCloud(returns_in_world_frame,
-                                             pose.inverse().cast<float>()),
-            {}};
+                                             pose.inverse().cast<float>())};
   }
 
   void AddLinearOnlyImuObservation(const common::Time time,
@@ -278,11 +278,10 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
     int num_poses = 0;
     for (const TrajectoryNode& node : expected_trajectory) {
       AddLinearOnlyImuObservation(node.time, node.pose);
-      const auto range_data = GenerateRangeData(node.pose);
+      const auto point_cloud = GeneratePointCloudData(node.pose, node.time);
       const std::unique_ptr<LocalTrajectoryBuilder3D::MatchingResult>
-          matching_result = local_trajectory_builder_->AddRangeData(
-              kSensorId, sensor::TimedPointCloudData{
-                             node.time, range_data.origin, range_data.returns});
+          matching_result =
+              local_trajectory_builder_->AddRangeData(kSensorId, point_cloud);
       if (matching_result != nullptr) {
         EXPECT_THAT(matching_result->local_pose,
                     transform::IsNearly(node.pose, 1e-1));
diff --git a/cartographer/sensor/range_data.cc b/cartographer/sensor/range_data.cc
index 2eea185..1151545 100644
--- a/cartographer/sensor/range_data.cc
+++ b/cartographer/sensor/range_data.cc
@@ -31,15 +31,6 @@ RangeData TransformRangeData(const RangeData& range_data,
   };
 }
 
-TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
-                                       const transform::Rigid3f& transform) {
-  return TimedRangeData{
-      transform * range_data.origin,
-      TransformTimedPointCloud(range_data.returns, transform),
-      TransformTimedPointCloud(range_data.misses, transform),
-  };
-}
-
 RangeData CropRangeData(const RangeData& range_data, const float min_z,
                         const float max_z) {
   return RangeData{range_data.origin,
@@ -47,13 +38,6 @@ RangeData CropRangeData(const RangeData& range_data, const float min_z,
                    CropPointCloud(range_data.misses, min_z, max_z)};
 }
 
-TimedRangeData CropTimedRangeData(const TimedRangeData& range_data,
-                                  const float min_z, const float max_z) {
-  return TimedRangeData{range_data.origin,
-                        CropTimedPointCloud(range_data.returns, min_z, max_z),
-                        CropTimedPointCloud(range_data.misses, min_z, max_z)};
-}
-
 proto::RangeData ToProto(const RangeData& range_data) {
   proto::RangeData proto;
   *proto.mutable_origin() = transform::ToProto(range_data.origin);
diff --git a/cartographer/sensor/range_data.h b/cartographer/sensor/range_data.h
index 7439bc7..e7cd658 100644
--- a/cartographer/sensor/range_data.h
+++ b/cartographer/sensor/range_data.h
@@ -35,26 +35,12 @@ struct RangeData {
   PointCloud misses;
 };
 
-// Like 'RangeData', but with 'TimedPointClouds'.
-struct TimedRangeData {
-  Eigen::Vector3f origin;
-  TimedPointCloud returns;
-  TimedPointCloud misses;
-};
-
 RangeData TransformRangeData(const RangeData& range_data,
                              const transform::Rigid3f& transform);
 
-TimedRangeData TransformTimedRangeData(const TimedRangeData& range_data,
-                                       const transform::Rigid3f& transform);
-
 // Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
 RangeData CropRangeData(const RangeData& range_data, float min_z, float max_z);
 
-// Crops 'range_data' according to the region defined by 'min_z' and 'max_z'.
-TimedRangeData CropTimedRangeData(const TimedRangeData& range_data, float min_z,
-                                  float max_z);
-
 // Converts 'range_data' to a proto::RangeData.
 proto::RangeData ToProto(const RangeData& range_data);