diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index e0760ed..e385db8 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -90,7 +90,7 @@ LocalTrajectoryBuilder::AddRangeData(const common::Time time,
   if (num_accumulated_ == 0) {
     first_pose_estimate_ = extrapolator_->ExtrapolatePose(time).cast<float>();
     accumulated_range_data_ =
-        sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}};
+        sensor::RangeData{range_data.origin, {}, {}};
   }
 
   // TODO(gaschler): Take time delta of individual points into account.
diff --git a/cartographer/mapping_3d/local_trajectory_builder.cc b/cartographer/mapping_3d/local_trajectory_builder.cc
index c35f07b..a53223a 100644
--- a/cartographer/mapping_3d/local_trajectory_builder.cc
+++ b/cartographer/mapping_3d/local_trajectory_builder.cc
@@ -70,7 +70,7 @@ LocalTrajectoryBuilder::AddRangeData(const common::Time time,
   if (num_accumulated_ == 0) {
     first_pose_estimate_ = extrapolator_->ExtrapolatePose(time).cast<float>();
     accumulated_range_data_ =
-        sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}};
+        sensor::RangeData{range_data.origin, {}, {}};
   }
 
   // TODO(gaschler): Take time delta of individual points into account.