diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 640f6ae..0f54498 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -42,9 +42,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
 SPARSE_POSE_GRAPH.optimize_every_n_scans = 320
 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
 SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
--- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
--- constraints.
-SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
 
 return options
diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua
index 51743f1..996fb15 100644
--- a/cartographer_ros/configuration_files/taurob_tracker.lua
+++ b/cartographer_ros/configuration_files/taurob_tracker.lua
@@ -45,9 +45,6 @@ SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 5e2
 SPARSE_POSE_GRAPH.optimize_every_n_scans = 40
 SPARSE_POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
 SPARSE_POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
--- Reuse the coarser 3D voxel filter to speed up the computation of loop closure
--- constraints.
-SPARSE_POSE_GRAPH.constraint_builder.adaptive_voxel_filter = TRAJECTORY_BUILDER_3D.high_resolution_adaptive_voxel_filter
 SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
 SPARSE_POSE_GRAPH.constraint_builder.log_matches = true