diff --git a/cartographer/common/ordered_multi_queue.h b/cartographer/common/ordered_multi_queue.h
index aeec4b0..2b6294a 100644
--- a/cartographer/common/ordered_multi_queue.h
+++ b/cartographer/common/ordered_multi_queue.h
@@ -66,8 +66,8 @@ class OrderedMultiQueue {
     auto* queue = FindOrNull(queue_key);
     if (queue == nullptr) {
       // TODO(damonkohler): This will not work for every value of "queue_key".
-      LOG_EVERY_N(WARNING, 60) << "Ignored value for queue: '" << queue_key
-                               << "'";
+      LOG_EVERY_N(WARNING, 1000) << "Ignored value for queue: '" << queue_key
+                                 << "'";
       return;
     }
     queue->queue.Push(
diff --git a/cartographer/mapping_3d/motion_filter.cc b/cartographer/mapping_3d/motion_filter.cc
index cefcddf..cf6803a 100644
--- a/cartographer/mapping_3d/motion_filter.cc
+++ b/cartographer/mapping_3d/motion_filter.cc
@@ -39,8 +39,9 @@ MotionFilter::MotionFilter(const proto::MotionFilterOptions& options)
 
 bool MotionFilter::IsSimilar(const common::Time time,
                              const transform::Rigid3d& pose) {
-  LOG_EVERY_N(INFO, 500) << "Motion filter reduced the number of scans to "
-                         << 100. * num_different_ / num_total_ << "%.";
+  LOG_IF_EVERY_N(INFO, num_total_ >= 500, 500)
+      << "Motion filter reduced the number of scans to "
+      << 100. * num_different_ / num_total_ << "%.";
   ++num_total_;
   if (num_total_ > 1 &&
       time - last_time_ <= common::FromSeconds(options_.max_time_seconds()) &&