diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index 26b89a2..13384c9 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -30,7 +30,7 @@ namespace {
 using ::cartographer::transform::Rigid3d;
 
 constexpr double kTrajectoryLineStripMarkerScale = 0.07;
-constexpr double kLandmarkMarkerScale = 0.3;
+constexpr double kLandmarkMarkerScale = 0.2;
 constexpr double kConstraintMarkerScale = 0.025;
 
 ::std_msgs::ColorRGBA ToMessage(const cartographer::io::FloatColor& color) {
@@ -75,7 +75,7 @@ visualization_msgs::Marker CreateLandmarkMarker(int landmark_index,
   visualization_msgs::Marker marker;
   marker.ns = "Landmarks";
   marker.id = landmark_index;
-  marker.type = visualization_msgs::Marker::CUBE;
+  marker.type = visualization_msgs::Marker::SPHERE;
   marker.header.stamp = ::ros::Time::now();
   marker.header.frame_id = frame_id;
   marker.scale.x = kLandmarkMarkerScale;
diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index 525c585..3254d98 100644
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@@ -100,7 +100,18 @@ void SensorBridge::HandleNavSatFixMessage(
 void SensorBridge::HandleLandmarkMessage(
     const std::string& sensor_id,
     const cartographer_ros_msgs::LandmarkList::ConstPtr& msg) {
-  trajectory_builder_->AddSensorData(sensor_id, ToLandmarkData(*msg));
+  auto landmark_data = ToLandmarkData(*msg);
+
+  auto tracking_from_landmark_sensor = tf_bridge_.LookupToTracking(
+      landmark_data.time, CheckNoLeadingSlash(msg->header.frame_id));
+  if (tracking_from_landmark_sensor != nullptr) {
+    for (auto& observation : landmark_data.landmark_observations) {
+      observation.landmark_to_tracking_transform =
+          *tracking_from_landmark_sensor *
+          observation.landmark_to_tracking_transform;
+    }
+  }
+  trajectory_builder_->AddSensorData(sensor_id, landmark_data);
 }
 
 std::unique_ptr<carto::sensor::ImuData> SensorBridge::ToImuData(