diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
index 08823e0..55a1e4f 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
@@ -319,14 +319,15 @@ void LocalTrajectoryBuilder2D::InitializeExtrapolator(const common::Time time) {
   if (extrapolator_ != nullptr) {
     return;
   }
-  // We derive velocities from poses which are at least 1 ms apart for numerical
-  // stability. Usually poses known to the extrapolator will be further apart
-  // in time and thus the last two are used.
-  constexpr double kExtrapolationEstimationTimeSec = 0.001;
+  CHECK(!options_.pose_extrapolator_options().use_imu_based());
   // TODO(gaschler): Consider using InitializeWithImu as 3D does.
   extrapolator_ = absl::make_unique<PoseExtrapolator>(
-      ::cartographer::common::FromSeconds(kExtrapolationEstimationTimeSec),
-      options_.imu_gravity_time_constant());
+      ::cartographer::common::FromSeconds(options_.pose_extrapolator_options()
+                                              .constant_velocity()
+                                              .pose_queue_duration()),
+      options_.pose_extrapolator_options()
+          .constant_velocity()
+          .imu_gravity_time_constant());
   extrapolator_->AddPose(time, transform::Rigid3d::Identity());
 }
 
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 552e0d5..434da3d 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
@@ -20,6 +20,7 @@
 #include "cartographer/mapping/internal/2d/scan_matching/ceres_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/mapping/pose_extrapolator_interface.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
 
 namespace cartographer {
@@ -58,6 +59,8 @@ proto::LocalTrajectoryBuilderOptions2D CreateLocalTrajectoryBuilderOptions2D(
           parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
   *options.mutable_motion_filter_options() = mapping::CreateMotionFilterOptions(
       parameter_dictionary->GetDictionary("motion_filter").get());
+  *options.mutable_pose_extrapolator_options() = CreatePoseExtrapolatorOptions(
+      parameter_dictionary->GetDictionary("pose_extrapolator").get());
   options.set_imu_gravity_time_constant(
       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
   *options.mutable_submaps_options() = CreateSubmapsOptions2D(
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
index 5cd26ab..1f670e2 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
@@ -108,13 +108,8 @@ void LocalTrajectoryBuilder3D::AddImuData(const sensor::ImuData& imu_data) {
     extrapolator_->AddImuData(imu_data);
     return;
   }
-  // We derive velocities from poses which are at least 1 ms apart for numerical
-  // stability. Usually poses known to the extrapolator will be further apart
-  // in time and thus the last two are used.
-  constexpr double kExtrapolationEstimationTimeSec = 0.001;
-  extrapolator_ = mapping::PoseExtrapolator::InitializeWithImu(
-      ::cartographer::common::FromSeconds(kExtrapolationEstimationTimeSec),
-      options_.imu_gravity_time_constant(), imu_data);
+  extrapolator_ = mapping::PoseExtrapolatorInterface::CreateWithImuData(
+      options_.pose_extrapolator_options(), {imu_data});
 }
 
 std::unique_ptr<LocalTrajectoryBuilder3D::MatchingResult>
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
index 2abeee8..b0ee05b 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
@@ -26,7 +26,7 @@
 #include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/internal/range_data_collator.h"
-#include "cartographer/mapping/pose_extrapolator.h"
+#include "cartographer/mapping/pose_extrapolator_interface.h"
 #include "cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.pb.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/imu_data.h"
@@ -103,7 +103,7 @@ class LocalTrajectoryBuilder3D {
       real_time_correlative_scan_matcher_;
   std::unique_ptr<scan_matching::CeresScanMatcher3D> ceres_scan_matcher_;
 
-  std::unique_ptr<mapping::PoseExtrapolator> extrapolator_;
+  std::unique_ptr<mapping::PoseExtrapolatorInterface> extrapolator_;
 
   int num_accumulated_ = 0;
   sensor::RangeData accumulated_range_data_;
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
index 423ee91..0558b0d 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
@@ -96,7 +96,14 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
 
           imu_gravity_time_constant = 1.,
           rotational_histogram_size = 120,
-
+          
+          pose_extrapolator = {
+            constant_velocity = {
+              imu_gravity_time_constant = 10.,
+              pose_queue_duration = 0.001,
+            },
+          },
+          
           submaps = {
             high_resolution = 0.2,
             high_resolution_max_range = 50.,
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 92c9ed1..6dd63ab 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
@@ -20,6 +20,7 @@
 #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
+#include "cartographer/mapping/pose_extrapolator_interface.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
 #include "glog/logging.h"
 
@@ -57,6 +58,8 @@ proto::LocalTrajectoryBuilderOptions3D CreateLocalTrajectoryBuilderOptions3D(
           parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
   *options.mutable_motion_filter_options() = CreateMotionFilterOptions(
       parameter_dictionary->GetDictionary("motion_filter").get());
+  *options.mutable_pose_extrapolator_options() = CreatePoseExtrapolatorOptions(
+      parameter_dictionary->GetDictionary("pose_extrapolator").get());
   options.set_imu_gravity_time_constant(
       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
   options.set_rotational_histogram_size(
diff --git a/cartographer/mapping/pose_extrapolator_interface.cc b/cartographer/mapping/pose_extrapolator_interface.cc
index a563e7b..32a5abd 100644
--- a/cartographer/mapping/pose_extrapolator_interface.cc
+++ b/cartographer/mapping/pose_extrapolator_interface.cc
@@ -35,7 +35,7 @@ CreateConstantVelocityPoseExtrapolatorOptions(
   return options;
 }
 
-}
+}  // namespace
 
 proto::PoseExtrapolatorOptions CreatePoseExtrapolatorOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
@@ -51,11 +51,12 @@ PoseExtrapolatorInterface::CreateWithImuData(
     const proto::PoseExtrapolatorOptions& options,
     const std::vector<sensor::ImuData>& imu_data) {
   CHECK(!imu_data.empty());
+  // TODO(schwoere): Implement/integrate imu based extrapolator.
+  CHECK(!options.use_imu_based()) << "Not implemented!";
   return PoseExtrapolator::InitializeWithImu(
-        common::FromSeconds(options.constant_velocity().pose_queue_duration()),
-        options.constant_velocity().imu_gravity_time_constant(),
-        imu_data.back());
+      common::FromSeconds(options.constant_velocity().pose_queue_duration()),
+      options.constant_velocity().imu_gravity_time_constant(), imu_data.back());
 }
 
-}
-}
+}  // namespace mapping
+}  // namespace cartographer
diff --git a/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto b/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto
index 2189091..0005c51 100644
--- a/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto
+++ b/cartographer/mapping/proto/2d/local_trajectory_builder_options_2d.proto
@@ -17,11 +17,13 @@ syntax = "proto3";
 package cartographer.mapping.proto;
 
 import "cartographer/mapping/proto/motion_filter_options.proto";
+import "cartographer/mapping/proto/pose_extrapolator_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
 import "cartographer/mapping/proto/2d/submaps_options_2d.proto";
 import "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_2d.proto";
 import "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.proto";
 
+// NEXT ID: 22
 message LocalTrajectoryBuilderOptions2D {
   // Rangefinder points outside these ranges will be dropped.
   float min_range = 14;
@@ -58,12 +60,15 @@ message LocalTrajectoryBuilderOptions2D {
   MotionFilterOptions motion_filter_options = 13;
 
   // Time constant in seconds for the orientation moving average based on
-  // observed gravity via the IMU. It should be chosen so that the error
-  // 1. from acceleration measurements not due to gravity (which gets worse when
-  // the constant is reduced) and
-  // 2. from integration of angular velocities (which gets worse when the
-  // constant is increased) is balanced.
+  // observed gravity via the IMU. It should be chosen so that the error	
+  // 1. from acceleration measurements not due to gravity (which gets worse when	
+  // the constant is reduced) and	
+  // 2. from integration of angular velocities (which gets worse when the	
+  // constant is increased) is balanced.	
+  // TODO(schwoere,wohe): Remove this constant. This is only used for ROS and 
+  // was replaced by pose_extrapolator_options.
   double imu_gravity_time_constant = 17;
+  mapping.proto.PoseExtrapolatorOptions pose_extrapolator_options = 21;
 
   SubmapsOptions2D submaps_options = 11;
 
diff --git a/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto b/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto
index 5bdd4f2..674189b 100644
--- a/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto
+++ b/cartographer/mapping/proto/3d/local_trajectory_builder_options_3d.proto
@@ -18,11 +18,12 @@ package cartographer.mapping.proto;
 
 import "cartographer/mapping/proto/3d/submaps_options_3d.proto";
 import "cartographer/mapping/proto/motion_filter_options.proto";
+import "cartographer/mapping/proto/pose_extrapolator_options.proto";
 import "cartographer/mapping/proto/scan_matching/ceres_scan_matcher_options_3d.proto";
 import "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
 
-// NEXT ID: 18
+// NEXT ID: 19
 message LocalTrajectoryBuilderOptions3D {
   // Rangefinder points outside these ranges will be dropped.
   float min_range = 1;
@@ -52,15 +53,19 @@ message LocalTrajectoryBuilderOptions3D {
   mapping.proto.MotionFilterOptions motion_filter_options = 7;
 
   // Time constant in seconds for the orientation moving average based on
-  // observed gravity via the IMU. It should be chosen so that the error
-  // 1. from acceleration measurements not due to gravity (which gets worse when
-  // the constant is reduced) and
-  // 2. from integration of angular velocities (which gets worse when the
-  // constant is increased) is balanced.
+  // observed gravity via the IMU. It should be chosen so that the error	
+  // 1. from acceleration measurements not due to gravity (which gets worse when	
+  // the constant is reduced) and	
+  // 2. from integration of angular velocities (which gets worse when the	
+  // constant is increased) is balanced.	
+  // TODO(schwoere,wohe): Remove this constant. This is only used for ROS and 
+  // was replaced by pose_extrapolator_options.
   double imu_gravity_time_constant = 15;
 
   // Number of histogram buckets for the rotational scan matcher.
   int32 rotational_histogram_size = 17;
 
+  mapping.proto.PoseExtrapolatorOptions pose_extrapolator_options = 18;
+
   SubmapsOptions3D submaps_options = 8;
 }
diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua
index 483f47f..386e874 100644
--- a/configuration_files/trajectory_builder_2d.lua
+++ b/configuration_files/trajectory_builder_2d.lua
@@ -59,7 +59,14 @@ TRAJECTORY_BUILDER_2D = {
     max_angle_radians = math.rad(1.),
   },
 
+  -- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
   imu_gravity_time_constant = 10.,
+  pose_extrapolator = {
+    constant_velocity = {
+      imu_gravity_time_constant = 10.,
+      pose_queue_duration = 0.001,
+    },
+  },
 
   submaps = {
     num_range_data = 90,
diff --git a/configuration_files/trajectory_builder_3d.lua b/configuration_files/trajectory_builder_3d.lua
index 49567f4..1195576 100644
--- a/configuration_files/trajectory_builder_3d.lua
+++ b/configuration_files/trajectory_builder_3d.lua
@@ -59,9 +59,17 @@ TRAJECTORY_BUILDER_3D = {
     max_angle_radians = 0.004,
   },
 
-  imu_gravity_time_constant = 10.,
   rotational_histogram_size = 120,
 
+  -- TODO(schwoere,wohe): Remove this constant. This is only kept for ROS.
+  imu_gravity_time_constant = 10.,
+  pose_extrapolator = {
+    constant_velocity = {
+      imu_gravity_time_constant = 10.,
+      pose_queue_duration = 0.001,
+    },
+  },
+
   submaps = {
     high_resolution = 0.10,
     high_resolution_max_range = 20.,