diff --git a/cartographer/mapping/collated_trajectory_builder.cc b/cartographer/mapping/collated_trajectory_builder.cc
index 74e386a..11c5cbf 100644
--- a/cartographer/mapping/collated_trajectory_builder.cc
+++ b/cartographer/mapping/collated_trajectory_builder.cc
@@ -79,9 +79,9 @@ void CollatedTrajectoryBuilder::HandleCollatedSensorData(
 
   switch (data->type) {
     case sensor::Data::Type::kImu:
-      wrapped_trajectory_builder_->AddImuData(data->time,
-                                              data->imu.linear_acceleration,
-                                              data->imu.angular_velocity);
+      wrapped_trajectory_builder_->AddImuData(
+          sensor::ImuData{data->time, data->imu.linear_acceleration,
+                          data->imu.angular_velocity});
       return;
 
     case sensor::Data::Type::kRangefinder:
diff --git a/cartographer/mapping/global_trajectory_builder_interface.h b/cartographer/mapping/global_trajectory_builder_interface.h
index 9f6e895..0d44971 100644
--- a/cartographer/mapping/global_trajectory_builder_interface.h
+++ b/cartographer/mapping/global_trajectory_builder_interface.h
@@ -25,6 +25,7 @@
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_builder.h"
+#include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -53,9 +54,7 @@ class GlobalTrajectoryBuilderInterface {
   virtual void AddRangefinderData(common::Time time,
                                   const Eigen::Vector3f& origin,
                                   const sensor::PointCloud& ranges) = 0;
-  virtual void AddImuData(common::Time time,
-                          const Eigen::Vector3d& linear_acceleration,
-                          const Eigen::Vector3d& angular_velocity) = 0;
+  virtual void AddImuData(const sensor::ImuData& imu_data) = 0;
   virtual void AddOdometerData(common::Time time,
                                const transform::Rigid3d& pose) = 0;
 };
diff --git a/cartographer/mapping_2d/global_trajectory_builder.cc b/cartographer/mapping_2d/global_trajectory_builder.cc
index a13b85d..a61b5a4 100644
--- a/cartographer/mapping_2d/global_trajectory_builder.cc
+++ b/cartographer/mapping_2d/global_trajectory_builder.cc
@@ -44,13 +44,9 @@ void GlobalTrajectoryBuilder::AddRangefinderData(
       std::move(insertion_result->insertion_submaps));
 }
 
-void GlobalTrajectoryBuilder::AddImuData(
-    const common::Time time, const Eigen::Vector3d& linear_acceleration,
-    const Eigen::Vector3d& angular_velocity) {
-  local_trajectory_builder_.AddImuData(time, linear_acceleration,
-                                       angular_velocity);
-  sparse_pose_graph_->AddImuData(trajectory_id_, time, linear_acceleration,
-                                 angular_velocity);
+void GlobalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
+  local_trajectory_builder_.AddImuData(imu_data);
+  sparse_pose_graph_->AddImuData(trajectory_id_, imu_data);
 }
 
 void GlobalTrajectoryBuilder::AddOdometerData(const common::Time time,
diff --git a/cartographer/mapping_2d/global_trajectory_builder.h b/cartographer/mapping_2d/global_trajectory_builder.h
index 422adbf..eee14cc 100644
--- a/cartographer/mapping_2d/global_trajectory_builder.h
+++ b/cartographer/mapping_2d/global_trajectory_builder.h
@@ -42,8 +42,7 @@ class GlobalTrajectoryBuilder
   // parallel to the ground plane.
   void AddRangefinderData(common::Time time, const Eigen::Vector3f& origin,
                           const sensor::PointCloud& ranges) override;
-  void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity) override;
+  void AddImuData(const sensor::ImuData& imu_data) override;
   void AddOdometerData(common::Time time,
                        const transform::Rigid3d& pose) override;
 
diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index c421d1a..8f67302 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -221,15 +221,14 @@ LocalTrajectoryBuilder::pose_estimate() const {
   return last_pose_estimate_;
 }
 
-void LocalTrajectoryBuilder::AddImuData(
-    const common::Time time, const Eigen::Vector3d& linear_acceleration,
-    const Eigen::Vector3d& angular_velocity) {
+void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
   CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added.";
 
-  InitializeImuTracker(time);
-  Predict(time);
-  imu_tracker_->AddImuLinearAccelerationObservation(linear_acceleration);
-  imu_tracker_->AddImuAngularVelocityObservation(angular_velocity);
+  InitializeImuTracker(imu_data.time);
+  Predict(imu_data.time);
+  imu_tracker_->AddImuLinearAccelerationObservation(
+      imu_data.linear_acceleration);
+  imu_tracker_->AddImuAngularVelocityObservation(imu_data.angular_velocity);
 }
 
 void LocalTrajectoryBuilder::AddOdometerData(
diff --git a/cartographer/mapping_2d/local_trajectory_builder.h b/cartographer/mapping_2d/local_trajectory_builder.h
index cb2b385..ce11ef3 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.h
+++ b/cartographer/mapping_2d/local_trajectory_builder.h
@@ -58,8 +58,7 @@ class LocalTrajectoryBuilder {
   const PoseEstimate& pose_estimate() const;
   std::unique_ptr<InsertionResult> AddHorizontalRangeData(
       common::Time, const sensor::RangeData& range_data);
-  void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(const sensor::ImuData& imu_data);
   void AddOdometerData(common::Time time, const transform::Rigid3d& pose);
 
  private:
diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc
index b0c70d6..567f03a 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph.cc
@@ -156,13 +156,11 @@ void SparsePoseGraph::AddWorkItem(std::function<void()> work_item) {
   }
 }
 
-void SparsePoseGraph::AddImuData(const int trajectory_id, common::Time time,
-                                 const Eigen::Vector3d& linear_acceleration,
-                                 const Eigen::Vector3d& angular_velocity) {
+void SparsePoseGraph::AddImuData(const int trajectory_id,
+                                 const sensor::ImuData& imu_data) {
   common::MutexLocker locker(&mutex_);
   AddWorkItem([=]() REQUIRES(mutex_) {
-    optimization_problem_.AddImuData(trajectory_id, time, linear_acceleration,
-                                     angular_velocity);
+    optimization_problem_.AddImuData(trajectory_id, imu_data);
   });
 }
 
diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h
index 6995993..fedeed1 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.h
+++ b/cartographer/mapping_2d/sparse_pose_graph.h
@@ -77,9 +77,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
       EXCLUDES(mutex_);
 
   // Adds new IMU data to be used in the optimization.
-  void AddImuData(int trajectory_id, common::Time time,
-                  const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
 
   void FreezeTrajectory(int trajectory_id) override;
   void AddSubmapFromProto(int trajectory_id,
diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
index a159139..65648fc 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
@@ -61,14 +61,11 @@ OptimizationProblem::OptimizationProblem(
 OptimizationProblem::~OptimizationProblem() {}
 
 void OptimizationProblem::AddImuData(const int trajectory_id,
-                                     const common::Time time,
-                                     const Eigen::Vector3d& linear_acceleration,
-                                     const Eigen::Vector3d& angular_velocity) {
+                                     const sensor::ImuData& imu_data) {
   CHECK_GE(trajectory_id, 0);
   imu_data_.resize(
       std::max(imu_data_.size(), static_cast<size_t>(trajectory_id) + 1));
-  imu_data_[trajectory_id].push_back(
-      sensor::ImuData{time, linear_acceleration, angular_velocity});
+  imu_data_[trajectory_id].push_back(imu_data);
 }
 
 void OptimizationProblem::AddTrajectoryNode(
diff --git a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
index 209308b..41bfd6e 100644
--- a/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
+++ b/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
@@ -58,9 +58,7 @@ class OptimizationProblem {
   OptimizationProblem(const OptimizationProblem&) = delete;
   OptimizationProblem& operator=(const OptimizationProblem&) = delete;
 
-  void AddImuData(int trajectory_id, common::Time time,
-                  const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
   void AddTrajectoryNode(int trajectory_id, common::Time time,
                          const transform::Rigid2d& initial_point_cloud_pose,
                          const transform::Rigid2d& point_cloud_pose);
diff --git a/cartographer/mapping_3d/global_trajectory_builder.cc b/cartographer/mapping_3d/global_trajectory_builder.cc
index 4dd55e0..b987bb5 100644
--- a/cartographer/mapping_3d/global_trajectory_builder.cc
+++ b/cartographer/mapping_3d/global_trajectory_builder.cc
@@ -28,13 +28,9 @@ GlobalTrajectoryBuilder::GlobalTrajectoryBuilder(
 
 GlobalTrajectoryBuilder::~GlobalTrajectoryBuilder() {}
 
-void GlobalTrajectoryBuilder::AddImuData(
-    const common::Time time, const Eigen::Vector3d& linear_acceleration,
-    const Eigen::Vector3d& angular_velocity) {
-  local_trajectory_builder_.AddImuData(time, linear_acceleration,
-                                       angular_velocity);
-  sparse_pose_graph_->AddImuData(trajectory_id_, time, linear_acceleration,
-                                 angular_velocity);
+void GlobalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
+  local_trajectory_builder_.AddImuData(imu_data);
+  sparse_pose_graph_->AddImuData(trajectory_id_, imu_data);
 }
 
 void GlobalTrajectoryBuilder::AddRangefinderData(
diff --git a/cartographer/mapping_3d/global_trajectory_builder.h b/cartographer/mapping_3d/global_trajectory_builder.h
index 5e229fc..98c43eb 100644
--- a/cartographer/mapping_3d/global_trajectory_builder.h
+++ b/cartographer/mapping_3d/global_trajectory_builder.h
@@ -36,8 +36,7 @@ class GlobalTrajectoryBuilder
   GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
   GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
 
-  void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity) override;
+  void AddImuData(const sensor::ImuData& imu_data) override;
   void AddRangefinderData(common::Time time, const Eigen::Vector3f& origin,
                           const sensor::PointCloud& ranges) override;
   void AddOdometerData(common::Time time,
diff --git a/cartographer/mapping_3d/local_trajectory_builder.cc b/cartographer/mapping_3d/local_trajectory_builder.cc
index e4b1bce..098f760 100644
--- a/cartographer/mapping_3d/local_trajectory_builder.cc
+++ b/cartographer/mapping_3d/local_trajectory_builder.cc
@@ -42,17 +42,16 @@ LocalTrajectoryBuilder::LocalTrajectoryBuilder(
 
 LocalTrajectoryBuilder::~LocalTrajectoryBuilder() {}
 
-void LocalTrajectoryBuilder::AddImuData(
-    const common::Time time, const Eigen::Vector3d& linear_acceleration,
-    const Eigen::Vector3d& angular_velocity) {
+void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
   const bool initial_imu_data = (imu_tracker_ == nullptr);
   if (initial_imu_data) {
     imu_tracker_ = common::make_unique<mapping::ImuTracker>(
-        options_.imu_gravity_time_constant(), time);
+        options_.imu_gravity_time_constant(), imu_data.time);
   }
-  Predict(time);
-  imu_tracker_->AddImuLinearAccelerationObservation(linear_acceleration);
-  imu_tracker_->AddImuAngularVelocityObservation(angular_velocity);
+  Predict(imu_data.time);
+  imu_tracker_->AddImuLinearAccelerationObservation(
+      imu_data.linear_acceleration);
+  imu_tracker_->AddImuAngularVelocityObservation(imu_data.angular_velocity);
   if (initial_imu_data) {
     // This uses the first accelerometer measurement to approximately align the
     // first pose to gravity.
diff --git a/cartographer/mapping_3d/local_trajectory_builder.h b/cartographer/mapping_3d/local_trajectory_builder.h
index 960e5cd..53dc325 100644
--- a/cartographer/mapping_3d/local_trajectory_builder.h
+++ b/cartographer/mapping_3d/local_trajectory_builder.h
@@ -55,8 +55,7 @@ class LocalTrajectoryBuilder {
   LocalTrajectoryBuilder(const LocalTrajectoryBuilder&) = delete;
   LocalTrajectoryBuilder& operator=(const LocalTrajectoryBuilder&) = delete;
 
-  void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(const sensor::ImuData& imu_data);
   std::unique_ptr<InsertionResult> AddRangefinderData(
       common::Time time, const Eigen::Vector3f& origin,
       const sensor::PointCloud& ranges);
diff --git a/cartographer/mapping_3d/local_trajectory_builder_test.cc b/cartographer/mapping_3d/local_trajectory_builder_test.cc
index ec455ff..263199b 100644
--- a/cartographer/mapping_3d/local_trajectory_builder_test.cc
+++ b/cartographer/mapping_3d/local_trajectory_builder_test.cc
@@ -208,8 +208,8 @@ class LocalTrajectoryBuilderTest : public ::testing::Test {
                                    const transform::Rigid3d& expected_pose) {
     const Eigen::Vector3d gravity =
         expected_pose.rotation().inverse() * Eigen::Vector3d(0., 0., 9.81);
-    local_trajectory_builder_->AddImuData(time, gravity,
-                                          Eigen::Vector3d::Zero());
+    local_trajectory_builder_->AddImuData(
+        sensor::ImuData{time, gravity, Eigen::Vector3d::Zero()});
   }
 
   std::vector<TrajectoryNode> GenerateCorkscrewTrajectory() {
diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc
index f0da401..beaff04 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph.cc
@@ -147,13 +147,11 @@ void SparsePoseGraph::AddWorkItem(std::function<void()> work_item) {
   }
 }
 
-void SparsePoseGraph::AddImuData(const int trajectory_id, common::Time time,
-                                 const Eigen::Vector3d& linear_acceleration,
-                                 const Eigen::Vector3d& angular_velocity) {
+void SparsePoseGraph::AddImuData(const int trajectory_id,
+                                 const sensor::ImuData& imu_data) {
   common::MutexLocker locker(&mutex_);
   AddWorkItem([=]() REQUIRES(mutex_) {
-    optimization_problem_.AddImuData(trajectory_id, time, linear_acceleration,
-                                     angular_velocity);
+    optimization_problem_.AddImuData(trajectory_id, imu_data);
   });
 }
 
diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h
index ddad6a8..d27b688 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.h
+++ b/cartographer/mapping_3d/sparse_pose_graph.h
@@ -75,9 +75,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
       EXCLUDES(mutex_);
 
   // Adds new IMU data to be used in the optimization.
-  void AddImuData(int trajectory_id, common::Time time,
-                  const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
 
   void FreezeTrajectory(int trajectory_id) override;
   void AddSubmapFromProto(int trajectory_id,
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
index e987b4a..28fe16d 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
@@ -80,14 +80,11 @@ OptimizationProblem::OptimizationProblem(
 OptimizationProblem::~OptimizationProblem() {}
 
 void OptimizationProblem::AddImuData(const int trajectory_id,
-                                     const common::Time time,
-                                     const Eigen::Vector3d& linear_acceleration,
-                                     const Eigen::Vector3d& angular_velocity) {
+                                     const sensor::ImuData& imu_data) {
   CHECK_GE(trajectory_id, 0);
   imu_data_.resize(
       std::max(imu_data_.size(), static_cast<size_t>(trajectory_id) + 1));
-  imu_data_[trajectory_id].push_back(
-      sensor::ImuData{time, linear_acceleration, angular_velocity});
+  imu_data_[trajectory_id].push_back(imu_data);
 }
 
 void OptimizationProblem::AddTrajectoryNode(
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
index 403c1c4..6d05c89 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
@@ -60,9 +60,7 @@ class OptimizationProblem {
   OptimizationProblem(const OptimizationProblem&) = delete;
   OptimizationProblem& operator=(const OptimizationProblem&) = delete;
 
-  void AddImuData(int trajectory_id, common::Time time,
-                  const Eigen::Vector3d& linear_acceleration,
-                  const Eigen::Vector3d& angular_velocity);
+  void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
   void AddTrajectoryNode(int trajectory_id, common::Time time,
                          const transform::Rigid3d& point_cloud_pose);
   void AddSubmap(int trajectory_id, const transform::Rigid3d& submap_pose);
diff --git a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
index 56426be..28b756e 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph/optimization_problem_test.cc
@@ -122,9 +122,9 @@ TEST_F(OptimizationProblemTest, ReducesNoise) {
   for (const NoisyNode& node : test_data) {
     const transform::Rigid3d pose =
         AddNoise(node.ground_truth_pose, node.noise);
-    optimization_problem_.AddImuData(kTrajectoryId, now,
-                                     Eigen::Vector3d::UnitZ() * 9.81,
-                                     Eigen::Vector3d::Zero());
+    optimization_problem_.AddImuData(
+        kTrajectoryId, sensor::ImuData{now, Eigen::Vector3d::UnitZ() * 9.81,
+                                       Eigen::Vector3d::Zero()});
     optimization_problem_.AddTrajectoryNode(kTrajectoryId, now, pose);
     now += common::FromSeconds(0.01);
   }