diff --git a/cartographer/sensor/point_cloud.cc b/cartographer/sensor/point_cloud.cc
index 1d56520..959017c 100644
--- a/cartographer/sensor/point_cloud.cc
+++ b/cartographer/sensor/point_cloud.cc
@@ -53,16 +53,5 @@ PointCloud CropPointCloud(const PointCloud& point_cloud, const float min_z,
   return cropped_point_cloud;
 }
 
-TimedPointCloud CropTimedPointCloud(const TimedPointCloud& point_cloud,
-                                    const float min_z, const float max_z) {
-  TimedPointCloud cropped_point_cloud;
-  for (const TimedRangefinderPoint& point : point_cloud) {
-    if (min_z <= point.position.z() && point.position.z() <= max_z) {
-      cropped_point_cloud.push_back(point);
-    }
-  }
-  return cropped_point_cloud;
-}
-
 }  // namespace sensor
 }  // namespace cartographer
diff --git a/cartographer/sensor/point_cloud.h b/cartographer/sensor/point_cloud.h
index dd96965..d2c338d 100644
--- a/cartographer/sensor/point_cloud.h
+++ b/cartographer/sensor/point_cloud.h
@@ -57,11 +57,6 @@ TimedPointCloud TransformTimedPointCloud(const TimedPointCloud& point_cloud,
 PointCloud CropPointCloud(const PointCloud& point_cloud, float min_z,
                           float max_z);
 
-// Returns a new point cloud without points that fall outside the region defined
-// by 'min_z' and 'max_z'.
-TimedPointCloud CropTimedPointCloud(const TimedPointCloud& point_cloud,
-                                    float min_z, float max_z);
-
 }  // namespace sensor
 }  // namespace cartographer