diff --git a/cartographer/cloud/internal/handlers/add_trajectory_handler.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler.cc
index 237bcf6..8133c91 100644
--- a/cartographer/cloud/internal/handlers/add_trajectory_handler.cc
+++ b/cartographer/cloud/internal/handlers/add_trajectory_handler.cc
@@ -55,6 +55,9 @@ void AddTrajectoryHandler::OnRequest(
     // freeze the trajectory on the server.
     trajectory_builder_options.clear_pure_localization_trimmer();
 
+    // Ignore initial poses in trajectory_builder_options.
+    trajectory_builder_options.clear_initial_trajectory_pose();
+
     GetContext<MapBuilderContextInterface>()
         ->local_trajectory_uploader()
         ->AddTrajectory(trajectory_id, expected_sensor_ids,
diff --git a/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc
index b392b26..c4f2339 100644
--- a/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc
+++ b/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc
@@ -122,9 +122,11 @@ TEST_F(AddTrajectoryHandlerTest, WithLocalSlamUploader) {
       .WillOnce(Return(13));
   auto upstream_trajectory_builder_options =
       request.trajectory_builder_options();
+  // Reproduce the changes to the request as done by the handler.
   upstream_trajectory_builder_options.clear_trajectory_builder_2d_options();
   upstream_trajectory_builder_options.clear_trajectory_builder_3d_options();
   upstream_trajectory_builder_options.clear_pure_localization_trimmer();
+  upstream_trajectory_builder_options.clear_initial_trajectory_pose();
   EXPECT_CALL(*mock_local_trajectory_uploader_,
               AddTrajectory(Eq(13), ParseSensorIds(request),
                             Truly(testing::BuildProtoPredicateEquals(