diff --git a/cartographer/mapping/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping/pose_graph/constraint_builder.cc
similarity index 95%
rename from cartographer/mapping/sparse_pose_graph/constraint_builder.cc
rename to cartographer/mapping/pose_graph/constraint_builder.cc
index ec57f1a..d598f03 100644
--- a/cartographer/mapping/sparse_pose_graph/constraint_builder.cc
+++ b/cartographer/mapping/pose_graph/constraint_builder.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/sparse_pose_graph/constraint_builder.h"
+#include "cartographer/mapping/pose_graph/constraint_builder.h"
 
 #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
 #include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h"
@@ -24,7 +24,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace sparse_pose_graph {
+namespace pose_graph {
 
 proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
@@ -58,6 +58,6 @@ proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
   return options;
 }
 
-}  // namespace sparse_pose_graph
+}  // namespace pose_graph
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/sparse_pose_graph/constraint_builder.h b/cartographer/mapping/pose_graph/constraint_builder.h
similarity index 71%
rename from cartographer/mapping/sparse_pose_graph/constraint_builder.h
rename to cartographer/mapping/pose_graph/constraint_builder.h
index 63820e4..9463e26 100644
--- a/cartographer/mapping/sparse_pose_graph/constraint_builder.h
+++ b/cartographer/mapping/pose_graph/constraint_builder.h
@@ -14,21 +14,21 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_
-#define CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_
+#ifndef CARTOGRAPHER_MAPPING_POSE_GRAPH_CONSTRAINT_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_POSE_GRAPH_CONSTRAINT_BUILDER_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
+#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 
 namespace cartographer {
 namespace mapping {
-namespace sparse_pose_graph {
+namespace pose_graph {
 
 proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
     common::LuaParameterDictionary* parameter_dictionary);
 
-}  // namespace sparse_pose_graph
+}  // namespace pose_graph
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_
+#endif  // CARTOGRAPHER_MAPPING_POSE_GRAPH_CONSTRAINT_BUILDER_H_
diff --git a/cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc b/cartographer/mapping/pose_graph/optimization_problem_options.cc
similarity index 93%
rename from cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc
rename to cartographer/mapping/pose_graph/optimization_problem_options.cc
index 349e45d..f535050 100644
--- a/cartographer/mapping/sparse_pose_graph/optimization_problem_options.cc
+++ b/cartographer/mapping/pose_graph/optimization_problem_options.cc
@@ -14,13 +14,13 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/sparse_pose_graph/optimization_problem_options.h"
+#include "cartographer/mapping/pose_graph/optimization_problem_options.h"
 
 #include "cartographer/common/ceres_solver_options.h"
 
 namespace cartographer {
 namespace mapping {
-namespace sparse_pose_graph {
+namespace pose_graph {
 
 proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
@@ -48,6 +48,6 @@ proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
   return options;
 }
 
-}  // namespace sparse_pose_graph
+}  // namespace pose_graph
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/sparse_pose_graph/optimization_problem_options.h b/cartographer/mapping/pose_graph/optimization_problem_options.h
similarity index 69%
rename from cartographer/mapping/sparse_pose_graph/optimization_problem_options.h
rename to cartographer/mapping/pose_graph/optimization_problem_options.h
index f7b138c..42fe5e5 100644
--- a/cartographer/mapping/sparse_pose_graph/optimization_problem_options.h
+++ b/cartographer/mapping/pose_graph/optimization_problem_options.h
@@ -14,21 +14,21 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
-#define CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
+#ifndef CARTOGRAPHER_MAPPING_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
+#define CARTOGRAPHER_MAPPING_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h"
+#include "cartographer/mapping/pose_graph/proto/optimization_problem_options.pb.h"
 
 namespace cartographer {
 namespace mapping {
-namespace sparse_pose_graph {
+namespace pose_graph {
 
 proto::OptimizationProblemOptions CreateOptimizationProblemOptions(
     common::LuaParameterDictionary* parameter_dictionary);
 
-}  // namespace sparse_pose_graph
+}  // namespace pose_graph
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
+#endif  // CARTOGRAPHER_MAPPING_POSE_GRAPH_OPTIMIZATION_PROBLEM_OPTIONS_H_
diff --git a/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
similarity index 97%
rename from cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto
rename to cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
index 38d37c9..c2c357b 100644
--- a/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto
+++ b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-package cartographer.mapping.sparse_pose_graph.proto;
+package cartographer.mapping.pose_graph.proto;
 
 import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto";
 import "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.proto";
diff --git a/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto b/cartographer/mapping/pose_graph/proto/optimization_problem_options.proto
similarity index 96%
rename from cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto
rename to cartographer/mapping/pose_graph/proto/optimization_problem_options.proto
index fc98db2..4a8e68c 100644
--- a/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto
+++ b/cartographer/mapping/pose_graph/proto/optimization_problem_options.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-package cartographer.mapping.sparse_pose_graph.proto;
+package cartographer.mapping.pose_graph.proto;
 
 import "cartographer/common/proto/ceres_solver_options.proto";
 
diff --git a/cartographer/mapping/proto/sparse_pose_graph_options.proto b/cartographer/mapping/proto/sparse_pose_graph_options.proto
index b614efd..41d48e2 100644
--- a/cartographer/mapping/proto/sparse_pose_graph_options.proto
+++ b/cartographer/mapping/proto/sparse_pose_graph_options.proto
@@ -16,8 +16,8 @@ syntax = "proto3";
 
 package cartographer.mapping.proto;
 
-import "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.proto";
-import "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.proto";
+import "cartographer/mapping/pose_graph/proto/constraint_builder_options.proto";
+import "cartographer/mapping/pose_graph/proto/optimization_problem_options.proto";
 
 message SparsePoseGraphOptions {
   // Online loop closure: If positive, will run the loop closure while the map
@@ -25,7 +25,7 @@ message SparsePoseGraphOptions {
   int32 optimize_every_n_scans = 1;
 
   // Options for the constraint builder.
-  mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
+  mapping.pose_graph.proto.ConstraintBuilderOptions
       constraint_builder_options = 3;
 
   // Weight used in the optimization problem for the translational component of
@@ -37,7 +37,7 @@ message SparsePoseGraphOptions {
   double matcher_rotation_weight = 8;
 
   // Options for the optimization problem.
-  mapping.sparse_pose_graph.proto.OptimizationProblemOptions
+  mapping.pose_graph.proto.OptimizationProblemOptions
       optimization_problem_options = 4;
 
   // Number of iterations to use in 'optimization_problem_options' for the final
diff --git a/cartographer/mapping/sparse_pose_graph.cc b/cartographer/mapping/sparse_pose_graph.cc
index 821b1e8..717df6e 100644
--- a/cartographer/mapping/sparse_pose_graph.cc
+++ b/cartographer/mapping/sparse_pose_graph.cc
@@ -16,8 +16,8 @@
 
 #include "cartographer/mapping/sparse_pose_graph.h"
 
-#include "cartographer/mapping/sparse_pose_graph/constraint_builder.h"
-#include "cartographer/mapping/sparse_pose_graph/optimization_problem_options.h"
+#include "cartographer/mapping/pose_graph/constraint_builder.h"
+#include "cartographer/mapping/pose_graph/optimization_problem_options.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
@@ -77,14 +77,14 @@ proto::SparsePoseGraphOptions CreateSparsePoseGraphOptions(
   options.set_optimize_every_n_scans(
       parameter_dictionary->GetInt("optimize_every_n_scans"));
   *options.mutable_constraint_builder_options() =
-      sparse_pose_graph::CreateConstraintBuilderOptions(
+      pose_graph::CreateConstraintBuilderOptions(
           parameter_dictionary->GetDictionary("constraint_builder").get());
   options.set_matcher_translation_weight(
       parameter_dictionary->GetDouble("matcher_translation_weight"));
   options.set_matcher_rotation_weight(
       parameter_dictionary->GetDouble("matcher_rotation_weight"));
   *options.mutable_optimization_problem_options() =
-      sparse_pose_graph::CreateOptimizationProblemOptions(
+      pose_graph::CreateOptimizationProblemOptions(
           parameter_dictionary->GetDictionary("optimization_problem").get());
   options.set_max_num_final_iterations(
       parameter_dictionary->GetNonNegativeInt("max_num_final_iterations"));
diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc
index 36de8f9..d0c6f80 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph.cc
@@ -31,7 +31,7 @@
 #include "Eigen/Eigenvalues"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
+#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
index ffd780d..30c0412 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
@@ -43,7 +43,7 @@ transform::Rigid2d ComputeSubmapPose(const Submap& submap) {
 }
 
 ConstraintBuilder::ConstraintBuilder(
-    const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions& options,
+    const mapping::pose_graph::proto::ConstraintBuilderOptions& options,
     common::ThreadPool* const thread_pool)
     : options_(options),
       thread_pool_(thread_pool),
diff --git a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h
index 9dcf3fa..44f61d8 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h
+++ b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h
@@ -30,8 +30,8 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
+#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/sparse_pose_graph.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
 #include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h"
 #include "cartographer/mapping_2d/submaps.h"
@@ -62,8 +62,7 @@ class ConstraintBuilder {
   using Result = std::vector<Constraint>;
 
   ConstraintBuilder(
-      const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions&
-          options,
+      const mapping::pose_graph::proto::ConstraintBuilderOptions& options,
       common::ThreadPool* thread_pool);
   ~ConstraintBuilder();
 
@@ -142,7 +141,7 @@ class ConstraintBuilder {
   // runs the 'when_done_' callback and resets the state.
   void FinishComputation(int computation_index) EXCLUDES(mutex_);
 
-  const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions options_;
+  const mapping::pose_graph::proto::ConstraintBuilderOptions options_;
   common::ThreadPool* thread_pool_;
   common::Mutex mutex_;
 
diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
index a1d76d0..4fa1b2e 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
@@ -55,8 +55,7 @@ transform::Rigid2d ToPose(const std::array<double, 3>& values) {
 }  // namespace
 
 OptimizationProblem::OptimizationProblem(
-    const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
-        options)
+    const mapping::pose_graph::proto::OptimizationProblemOptions& options)
     : options_(options) {}
 
 OptimizationProblem::~OptimizationProblem() {}
diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
index e4923e8..8b25631 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
+++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
@@ -28,8 +28,8 @@
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/id.h"
+#include "cartographer/mapping/pose_graph/proto/optimization_problem_options.pb.h"
 #include "cartographer/mapping/sparse_pose_graph.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/map_by_time.h"
 #include "cartographer/sensor/odometry_data.h"
@@ -56,8 +56,7 @@ class OptimizationProblem {
   using Constraint = mapping::SparsePoseGraph::Constraint;
 
   explicit OptimizationProblem(
-      const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
-          options);
+      const mapping::pose_graph::proto::OptimizationProblemOptions& options);
   ~OptimizationProblem();
 
   OptimizationProblem(const OptimizationProblem&) = delete;
@@ -100,7 +99,7 @@ class OptimizationProblem {
       int trajectory_id, const NodeData& first_node_data,
       const NodeData& second_node_data) const;
 
-  mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
+  mapping::pose_graph::proto::OptimizationProblemOptions options_;
   mapping::MapById<mapping::NodeId, NodeData> node_data_;
   mapping::MapById<mapping::SubmapId, SubmapData> submap_data_;
   sensor::MapByTime<sensor::ImuData> imu_data_;
diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc
index 83301a8..c9ae1e7 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph.cc
@@ -30,7 +30,7 @@
 #include "Eigen/Eigenvalues"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
+#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
index 244eee9..d5e41e7 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
@@ -39,7 +39,7 @@ namespace mapping_3d {
 namespace sparse_pose_graph {
 
 ConstraintBuilder::ConstraintBuilder(
-    const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions& options,
+    const mapping::pose_graph::proto::ConstraintBuilderOptions& options,
     common::ThreadPool* const thread_pool)
     : options_(options),
       thread_pool_(thread_pool),
diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
index 4c64312..a01886f 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
+++ b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
@@ -58,8 +58,7 @@ class ConstraintBuilder {
   using Result = std::vector<Constraint>;
 
   ConstraintBuilder(
-      const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions&
-          options,
+      const mapping::pose_graph::proto::ConstraintBuilderOptions& options,
       common::ThreadPool* thread_pool);
   ~ConstraintBuilder();
 
@@ -153,7 +152,7 @@ class ConstraintBuilder {
   // runs the 'when_done_' callback and resets the state.
   void FinishComputation(int computation_index) EXCLUDES(mutex_);
 
-  const mapping::sparse_pose_graph::proto::ConstraintBuilderOptions options_;
+  const mapping::pose_graph::proto::ConstraintBuilderOptions options_;
   common::ThreadPool* thread_pool_;
   common::Mutex mutex_;
 
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
index 6de739d..ce70da0 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
@@ -74,8 +74,7 @@ std::unique_ptr<transform::Rigid3d> Interpolate(
 }  // namespace
 
 OptimizationProblem::OptimizationProblem(
-    const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
-        options,
+    const mapping::pose_graph::proto::OptimizationProblemOptions& options,
     FixZ fix_z)
     : options_(options), fix_z_(fix_z) {}
 
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
index d4f25cf..199315c 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
@@ -28,8 +28,8 @@
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/id.h"
+#include "cartographer/mapping/pose_graph/proto/optimization_problem_options.pb.h"
 #include "cartographer/mapping/sparse_pose_graph.h"
-#include "cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/map_by_time.h"
@@ -58,8 +58,7 @@ class OptimizationProblem {
   enum class FixZ { kYes, kNo };
 
   OptimizationProblem(
-      const mapping::sparse_pose_graph::proto::OptimizationProblemOptions&
-          options,
+      const mapping::pose_graph::proto::OptimizationProblemOptions& options,
       FixZ fix_z);
   ~OptimizationProblem();
 
@@ -107,7 +106,7 @@ class OptimizationProblem {
     std::array<double, 4> imu_calibration{{1., 0., 0., 0.}};
   };
 
-  mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_;
+  mapping::pose_graph::proto::OptimizationProblemOptions options_;
   FixZ fix_z_;
   mapping::MapById<mapping::NodeId, NodeData> node_data_;
   mapping::MapById<mapping::SubmapId, SubmapData> submap_data_;
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
index ed01c89..ce26853 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
@@ -21,7 +21,7 @@
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/time.h"
-#include "cartographer/mapping/sparse_pose_graph/optimization_problem_options.h"
+#include "cartographer/mapping/pose_graph/optimization_problem_options.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 #include "gmock/gmock.h"
@@ -37,8 +37,7 @@ class OptimizationProblemTest : public ::testing::Test {
       : optimization_problem_(CreateOptions(), OptimizationProblem::FixZ::kNo),
         rng_(45387) {}
 
-  mapping::sparse_pose_graph::proto::OptimizationProblemOptions
-  CreateOptions() {
+  mapping::pose_graph::proto::OptimizationProblemOptions CreateOptions() {
     auto parameter_dictionary = common::MakeDictionary(R"text(
         return {
           acceleration_weight = 1e-4,
@@ -55,7 +54,7 @@ class OptimizationProblemTest : public ::testing::Test {
             num_threads = 4,
           },
         })text");
-    return mapping::sparse_pose_graph::CreateOptimizationProblemOptions(
+    return mapping::pose_graph::CreateOptimizationProblemOptions(
         parameter_dictionary.get());
   }