diff --git a/cartographer/sensor/landmark_data.cc b/cartographer/sensor/landmark_data.cc
index 453429a..71555dd 100644
--- a/cartographer/sensor/landmark_data.cc
+++ b/cartographer/sensor/landmark_data.cc
@@ -27,7 +27,8 @@ proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
   for (const Landmark& landmark : landmark_data.landmarks) {
     auto* item = proto.add_landmarks();
     item->set_id(landmark.id);
-    *item->mutable_transform() = transform::ToProto(landmark.transform);
+    *item->mutable_landmark_to_tracking_transform() =
+        transform::ToProto(landmark.landmark_to_tracking_transform);
     item->set_translation_weight(landmark.translation_weight);
     item->set_rotation_weight(landmark.rotation_weight);
   }
@@ -40,7 +41,7 @@ LandmarkData FromProto(const proto::LandmarkData& proto) {
   for (const auto& item : proto.landmarks()) {
     landmark_data.landmarks.push_back({
         item.id(),
-        transform::ToRigid3(item.transform()),
+        transform::ToRigid3(item.landmark_to_tracking_transform()),
         item.translation_weight(),
         item.rotation_weight(),
     });
diff --git a/cartographer/sensor/landmark_data.h b/cartographer/sensor/landmark_data.h
index 93d8db6..c03be2d 100644
--- a/cartographer/sensor/landmark_data.h
+++ b/cartographer/sensor/landmark_data.h
@@ -31,7 +31,7 @@ namespace sensor {
 
 struct Landmark {
   std::string id;
-  transform::Rigid3d transform;
+  transform::Rigid3d landmark_to_tracking_transform;
   double translation_weight;
   double rotation_weight;
 };
diff --git a/cartographer/sensor/landmark_data_test.cc b/cartographer/sensor/landmark_data_test.cc
index 28bb59e..112e6ad 100644
--- a/cartographer/sensor/landmark_data_test.cc
+++ b/cartographer/sensor/landmark_data_test.cc
@@ -31,13 +31,14 @@ using ::testing::DoubleNear;
 using ::testing::Field;
 
 ::testing::Matcher<const Landmark&> EqualsLandmark(const Landmark& expected) {
-  return ::testing::AllOf(Field(&Landmark::id, expected.id),
-                          Field(&Landmark::transform,
-                                transform::IsNearly(expected.transform, 1e-2)),
-                          Field(&Landmark::translation_weight,
-                                DoubleNear(expected.translation_weight, 0.01)),
-                          Field(&Landmark::rotation_weight,
-                                DoubleNear(expected.rotation_weight, 0.01)));
+  return ::testing::AllOf(
+      Field(&Landmark::id, expected.id),
+      Field(&Landmark::landmark_to_tracking_transform,
+            transform::IsNearly(expected.landmark_to_tracking_transform, 1e-2)),
+      Field(&Landmark::translation_weight,
+            DoubleNear(expected.translation_weight, 0.01)),
+      Field(&Landmark::rotation_weight,
+            DoubleNear(expected.rotation_weight, 0.01)));
 }
 
 class LandmarkDataTest : public ::testing::Test {
diff --git a/cartographer/sensor/proto/sensor.proto b/cartographer/sensor/proto/sensor.proto
index ec81fcf..b4918a7 100644
--- a/cartographer/sensor/proto/sensor.proto
+++ b/cartographer/sensor/proto/sensor.proto
@@ -63,7 +63,7 @@ message FixedFramePoseData {
 message LandmarkData {
   message Landmark {
     bytes id = 1;
-    transform.proto.Rigid3d transform = 2;
+    transform.proto.Rigid3d landmark_to_tracking_transform = 2;
     double translation_weight = 3;
     double rotation_weight = 4;
   }