diff --git a/cartographer/cloud/internal/client/trajectory_builder_stub.cc b/cartographer/cloud/internal/client/trajectory_builder_stub.cc
index 104d92c..b12caa8 100644
--- a/cartographer/cloud/internal/client/trajectory_builder_stub.cc
+++ b/cartographer/cloud/internal/client/trajectory_builder_stub.cc
@@ -18,7 +18,7 @@
 
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/cloud/internal/client/trajectory_builder_stub.h b/cartographer/cloud/internal/client/trajectory_builder_stub.h
index 95251a9..c57a4f3 100644
--- a/cartographer/cloud/internal/client/trajectory_builder_stub.h
+++ b/cartographer/cloud/internal/client/trajectory_builder_stub.h
@@ -26,7 +26,7 @@
 #include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h"
 #include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h"
 #include "cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "grpc++/grpc++.h"
 #include "pose_graph_stub.h"
diff --git a/cartographer/cloud/internal/client_server_test.cc b/cartographer/cloud/internal/client_server_test.cc
index 1eaea52..ade3c98 100644
--- a/cartographer/cloud/internal/client_server_test.cc
+++ b/cartographer/cloud/internal/client_server_test.cc
@@ -24,11 +24,11 @@
 #include "cartographer/io/internal/testing/test_helpers.h"
 #include "cartographer/io/proto_stream.h"
 #include "cartographer/io/proto_stream_deserializer.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/internal/testing/mock_map_builder.h"
 #include "cartographer/mapping/internal/testing/mock_pose_graph.h"
 #include "cartographer/mapping/internal/testing/mock_trajectory_builder.h"
 #include "cartographer/mapping/internal/testing/test_helpers.h"
-#include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/map_builder.h"
 #include "glog/logging.h"
 #include "gmock/gmock.h"
diff --git a/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc b/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc
index cb315b1..c277428 100644
--- a/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc
+++ b/cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc
@@ -20,7 +20,7 @@
 #include "async_grpc/rpc_handler.h"
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
diff --git a/cartographer/cloud/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h
index ed75943..03a70aa 100644
--- a/cartographer/cloud/internal/map_builder_server.h
+++ b/cartographer/cloud/internal/map_builder_server.h
@@ -27,8 +27,8 @@
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/mapping/3d/submap_3d.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/internal/submap_controller.h"
-#include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/internal/dispatchable.h"
diff --git a/cartographer/cloud/internal/sensor/serialization.h b/cartographer/cloud/internal/sensor/serialization.h
index 46ee126..9da7fe2 100644
--- a/cartographer/cloud/internal/sensor/serialization.h
+++ b/cartographer/cloud/internal/sensor/serialization.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_CLOUD_INTERNAL_SENSOR_SERIALIZATION_H
 
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/imu_data.h"
diff --git a/cartographer/cloud/internal/testing/mock_map_builder_context.h b/cartographer/cloud/internal/testing/mock_map_builder_context.h
index 9ec8788..bb0e1d7 100644
--- a/cartographer/cloud/internal/testing/mock_map_builder_context.h
+++ b/cartographer/cloud/internal/testing/mock_map_builder_context.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
 
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "glog/logging.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
diff --git a/cartographer/mapping/internal/2d/local_slam_result_2d.h b/cartographer/mapping/internal/2d/local_slam_result_2d.h
index f55fdd2..71b4f18 100644
--- a/cartographer/mapping/internal/2d/local_slam_result_2d.h
+++ b/cartographer/mapping/internal/2d/local_slam_result_2d.h
@@ -17,8 +17,8 @@
 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
 
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/internal/submap_controller.h"
-#include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/internal/2d/scan_matching/interpolated_tsdf_2d.h b/cartographer/mapping/internal/2d/scan_matching/interpolated_tsdf_2d.h
index 1784d07..5b014fd 100644
--- a/cartographer/mapping/internal/2d/scan_matching/interpolated_tsdf_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/interpolated_tsdf_2d.h
@@ -19,7 +19,7 @@
 
 #include <cmath>
 
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 
 namespace cartographer {
 namespace mapping {
@@ -133,4 +133,4 @@ class InterpolatedTSDF2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_INTERPOLATED_TSDF_2D_H_
\ No newline at end of file
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_INTERPOLATED_TSDF_2D_H_
diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
index 1bc75bd..60b00fe 100644
--- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
@@ -25,7 +25,7 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/math.h"
 #include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
index b69cdd0..71fb0a9 100644
--- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
@@ -24,7 +24,7 @@
 #include "cartographer/common/internal/testing/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 #include "cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h"
 #include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/point_cloud.h"
diff --git a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d.h b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d.h
index d66ef48..8a1ce6d 100644
--- a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d.h
@@ -17,7 +17,7 @@
 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_MATCH_COST_FUNCTION_2D_H_
 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_MATCH_COST_FUNCTION_2D_H_
 
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "ceres/ceres.h"
 
diff --git a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
index dcebdc7..8c9cf04 100644
--- a/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/tsdf_match_cost_function_2d_test.cc
@@ -18,7 +18,7 @@
 
 #include "cartographer/common/internal/testing/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 #include "cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
diff --git a/cartographer/mapping/2d/tsd_value_converter.cc b/cartographer/mapping/internal/2d/tsd_value_converter.cc
similarity index 95%
rename from cartographer/mapping/2d/tsd_value_converter.cc
rename to cartographer/mapping/internal/2d/tsd_value_converter.cc
index dde8ddb..5feddad 100644
--- a/cartographer/mapping/2d/tsd_value_converter.cc
+++ b/cartographer/mapping/internal/2d/tsd_value_converter.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/tsd_value_converter.h"
+#include "cartographer/mapping/internal/2d/tsd_value_converter.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/2d/tsd_value_converter.h b/cartographer/mapping/internal/2d/tsd_value_converter.h
similarity index 100%
rename from cartographer/mapping/2d/tsd_value_converter.h
rename to cartographer/mapping/internal/2d/tsd_value_converter.h
diff --git a/cartographer/mapping/2d/tsd_value_converter_test.cc b/cartographer/mapping/internal/2d/tsd_value_converter_test.cc
similarity index 98%
rename from cartographer/mapping/2d/tsd_value_converter_test.cc
rename to cartographer/mapping/internal/2d/tsd_value_converter_test.cc
index 0c37d2d..1fa496e 100644
--- a/cartographer/mapping/2d/tsd_value_converter_test.cc
+++ b/cartographer/mapping/internal/2d/tsd_value_converter_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/tsd_value_converter.h"
+#include "cartographer/mapping/internal/2d/tsd_value_converter.h"
 
 #include "gtest/gtest.h"
 
diff --git a/cartographer/mapping/2d/tsdf_2d.cc b/cartographer/mapping/internal/2d/tsdf_2d.cc
similarity index 99%
rename from cartographer/mapping/2d/tsdf_2d.cc
rename to cartographer/mapping/internal/2d/tsdf_2d.cc
index 32bdb59..fa6fc9b 100644
--- a/cartographer/mapping/2d/tsdf_2d.cc
+++ b/cartographer/mapping/internal/2d/tsdf_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 
 #include "absl/memory/memory.h"
 
diff --git a/cartographer/mapping/2d/tsdf_2d.h b/cartographer/mapping/internal/2d/tsdf_2d.h
similarity index 97%
rename from cartographer/mapping/2d/tsdf_2d.h
rename to cartographer/mapping/internal/2d/tsdf_2d.h
index 250f38f..16134f6 100644
--- a/cartographer/mapping/2d/tsdf_2d.h
+++ b/cartographer/mapping/internal/2d/tsdf_2d.h
@@ -22,8 +22,9 @@
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/2d/grid_2d.h"
 #include "cartographer/mapping/2d/map_limits.h"
-#include "cartographer/mapping/2d/tsd_value_converter.h"
 #include "cartographer/mapping/2d/xy_index.h"
+#include "cartographer/mapping/internal/2d/tsd_value_converter.h"
+
 namespace cartographer {
 namespace mapping {
 
diff --git a/cartographer/mapping/2d/tsdf_2d_test.cc b/cartographer/mapping/internal/2d/tsdf_2d_test.cc
similarity index 99%
rename from cartographer/mapping/2d/tsdf_2d_test.cc
rename to cartographer/mapping/internal/2d/tsdf_2d_test.cc
index 5e50343..2ea899e 100644
--- a/cartographer/mapping/2d/tsdf_2d_test.cc
+++ b/cartographer/mapping/internal/2d/tsdf_2d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 
 #include <random>
 
diff --git a/cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h b/cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h
index a3fa5ba..bdc810a 100644
--- a/cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h
+++ b/cartographer/mapping/internal/2d/tsdf_range_data_inserter_2d.h
@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_2D_TSDF_RANGE_DATA_INSERTER_2D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/2d/tsdf_2d.h"
+#include "cartographer/mapping/internal/2d/tsdf_2d.h"
 #include "cartographer/mapping/proto/tsdf_range_data_inserter_options_2d.pb.h"
 #include "cartographer/mapping/range_data_inserter_interface.h"
 #include "cartographer/sensor/point_cloud.h"
diff --git a/cartographer/mapping/internal/3d/local_slam_result_3d.h b/cartographer/mapping/internal/3d/local_slam_result_3d.h
index 3efba2e..88e94ff 100644
--- a/cartographer/mapping/internal/3d/local_slam_result_3d.h
+++ b/cartographer/mapping/internal/3d/local_slam_result_3d.h
@@ -17,8 +17,8 @@
 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_SLAM_RESULT_3D_H_
 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_SLAM_RESULT_3D_H_
 
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/internal/submap_controller.h"
-#include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/internal/collated_trajectory_builder.h b/cartographer/mapping/internal/collated_trajectory_builder.h
index e9e39ff..c00a979 100644
--- a/cartographer/mapping/internal/collated_trajectory_builder.h
+++ b/cartographer/mapping/internal/collated_trajectory_builder.h
@@ -25,7 +25,7 @@
 
 #include "cartographer/common/internal/rate_timer.h"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/collator_interface.h"
diff --git a/cartographer/mapping/internal/global_trajectory_builder.cc b/cartographer/mapping/internal/global_trajectory_builder.cc
index f68645f..a60e88a 100644
--- a/cartographer/mapping/internal/global_trajectory_builder.cc
+++ b/cartographer/mapping/internal/global_trajectory_builder.cc
@@ -21,8 +21,8 @@
 #include "absl/memory/memory.h"
 #include "absl/types/optional.h"
 #include "cartographer/common/time.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/internal/motion_filter.h"
-#include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/metrics/family_factory.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/internal/global_trajectory_builder.h b/cartographer/mapping/internal/global_trajectory_builder.h
index 4669436..c0980f5 100644
--- a/cartographer/mapping/internal/global_trajectory_builder.h
+++ b/cartographer/mapping/internal/global_trajectory_builder.h
@@ -23,7 +23,7 @@
 #include "cartographer/mapping/internal/2d/pose_graph_2d.h"
 #include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
 #include "cartographer/mapping/internal/3d/pose_graph_3d.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/metrics/family_factory.h"
 
diff --git a/cartographer/mapping/local_slam_result_data.h b/cartographer/mapping/internal/local_slam_result_data.h
similarity index 100%
rename from cartographer/mapping/local_slam_result_data.h
rename to cartographer/mapping/internal/local_slam_result_data.h
diff --git a/cartographer/mapping/internal/range_data_collator.cc b/cartographer/mapping/internal/range_data_collator.cc
index 6c27ac3..3ce9e21 100644
--- a/cartographer/mapping/internal/range_data_collator.cc
+++ b/cartographer/mapping/internal/range_data_collator.cc
@@ -19,7 +19,7 @@
 #include <memory>
 
 #include "absl/memory/memory.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 #include "glog/logging.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/trajectory_builder_interface.cc b/cartographer/mapping/trajectory_builder_interface.cc
index 991dcc4..b81eed5 100644
--- a/cartographer/mapping/trajectory_builder_interface.cc
+++ b/cartographer/mapping/trajectory_builder_interface.cc
@@ -18,7 +18,7 @@
 
 #include "cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h"
 #include "cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h"
-#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/internal/local_slam_result_data.h"
 
 namespace cartographer {
 namespace mapping {