diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
index 5dd596e..552e0d5 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
@@ -18,8 +18,8 @@
 
 #include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
+#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
index dd0f73e..a991d27 100644
--- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
@@ -44,7 +44,6 @@
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
-#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
 
 namespace cartographer {
 namespace mapping {
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 3a5df85..61842e1 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
@@ -24,6 +24,7 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
index 6774b0a..92c9ed1 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
@@ -19,7 +19,7 @@
 #include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
-#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
+#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
index 23dd429..bf7d349 100644
--- a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
@@ -21,7 +21,7 @@
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
diff --git a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc
similarity index 91%
rename from cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc
rename to cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc
index 3709c28..966ebe3 100644
--- a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc
+++ b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc
@@ -1,4 +1,4 @@
-#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
+#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h
similarity index 79%
rename from cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h
rename to cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h
index 56c9f01..2345dfc 100644
--- a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h
+++ b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h
@@ -15,8 +15,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_
-#define CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
@@ -33,4 +33,4 @@ CreateRealTimeCorrelativeScanMatcherOptions(
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_