diff --git a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
index 9b5ad76..eb3a820 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
@@ -233,15 +233,19 @@ void ConstraintBuilder::ComputeConstraint(
       Constraint::INTER_SUBMAP});
 
   if (options_.log_matches()) {
-    const transform::Rigid2d difference =
-        initial_pose.inverse() * pose_estimate;
     std::ostringstream info;
     info << "Node " << node_id << " with " << filtered_point_cloud.size()
-         << " points on submap " << submap_id << " differs by translation "
-         << std::fixed << std::setprecision(2)
-         << difference.translation().norm() << " rotation "
-         << std::setprecision(3) << std::abs(difference.normalized_angle())
-         << " with score " << std::setprecision(1) << 100. * score
+         << " points on submap " << submap_id << std::fixed;
+    if (match_full_submap) {
+      info << " matches";
+    } else {
+      const transform::Rigid2d difference =
+          initial_pose.inverse() * pose_estimate;
+      info << " differs by translation " << std::setprecision(2)
+           << difference.translation().norm() << " rotation "
+           << std::setprecision(3) << std::abs(difference.normalized_angle());
+    }
+    info << " with score " << std::setprecision(1) << 100. * score
          << "% covariance trace " << std::scientific << std::setprecision(4)
          << covariance.trace() << ".";
     LOG(INFO) << info.str();
diff --git a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc
index 598f4ea..153ac7e 100644
--- a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc
+++ b/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc
@@ -129,7 +129,8 @@ bool FastCorrelativeScanMatcher::MatchFullSubmap(
     max_point_distance = std::max(max_point_distance, point.norm());
   }
   const int linear_window_size =
-      (width_in_voxels_ + 1) / 2 + std::ceil(max_point_distance);
+      (width_in_voxels_ + 1) / 2 +
+      common::RoundToInt(max_point_distance / resolution_ + 0.5f);
   const SearchParameters search_parameters{linear_window_size,
                                            linear_window_size, M_PI};
   return MatchWithSearchParameters(search_parameters, initial_pose_estimate,
diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
index c94c730..2491082 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
@@ -236,15 +236,19 @@ void ConstraintBuilder::ComputeConstraint(
       OptimizationProblem::Constraint::INTER_SUBMAP});
 
   if (options_.log_matches()) {
-    const transform::Rigid3d difference =
-        initial_pose.inverse() * pose_estimate;
     std::ostringstream info;
     info << "Node " << node_id << " with " << filtered_point_cloud.size()
-         << " points on submap " << submap_id << " differs by translation "
-         << std::fixed << std::setprecision(2)
-         << difference.translation().norm() << " rotation "
-         << std::setprecision(3) << transform::GetAngle(difference)
-         << " with score " << std::setprecision(1) << 100. * score << "%.";
+         << " points on submap " << submap_id << std::fixed;
+    if (match_full_submap) {
+      info << " matches";
+    } else {
+      const transform::Rigid3d difference =
+          initial_pose.inverse() * pose_estimate;
+      info << " differs by translation " << std::setprecision(2)
+           << difference.translation().norm() << " rotation "
+           << std::setprecision(3) << transform::GetAngle(difference);
+    }
+    info << " with score " << std::setprecision(1) << 100. * score << "%.";
     LOG(INFO) << info.str();
   }
 }