diff --git a/cartographer_ros/configuration_files/backpack_2d_localization.lua b/cartographer_ros/configuration_files/backpack_2d_localization.lua
index a2888b9..49ef3d7 100644
--- a/cartographer_ros/configuration_files/backpack_2d_localization.lua
+++ b/cartographer_ros/configuration_files/backpack_2d_localization.lua
@@ -15,6 +15,6 @@
 include "backpack_2d.lua"
 
 TRAJECTORY_BUILDER.pure_localization = true
-SPARSE_POSE_GRAPH.optimize_every_n_scans = 20
+POSE_GRAPH.optimize_every_n_scans = 20
 
 return options
diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index abd1e3c..e11fbd4 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -41,11 +41,11 @@ TRAJECTORY_BUILDER_3D.scans_per_accumulation = 160
 
 MAP_BUILDER.use_trajectory_builder_3d = true
 MAP_BUILDER.num_background_threads = 7
-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
-SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
-SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
+POSE_GRAPH.optimization_problem.huber_scale = 5e2
+POSE_GRAPH.optimize_every_n_scans = 320
+POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
+POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
+POSE_GRAPH.constraint_builder.min_score = 0.62
+POSE_GRAPH.constraint_builder.global_localization_min_score = 0.66
 
 return options
diff --git a/cartographer_ros/configuration_files/backpack_3d_localization.lua b/cartographer_ros/configuration_files/backpack_3d_localization.lua
index 0b20dbb..baea15d 100644
--- a/cartographer_ros/configuration_files/backpack_3d_localization.lua
+++ b/cartographer_ros/configuration_files/backpack_3d_localization.lua
@@ -15,6 +15,6 @@
 include "backpack_3d.lua"
 
 TRAJECTORY_BUILDER.pure_localization = true
-SPARSE_POSE_GRAPH.optimize_every_n_scans = 100
+POSE_GRAPH.optimize_every_n_scans = 100
 
 return options
diff --git a/cartographer_ros/configuration_files/pr2.lua b/cartographer_ros/configuration_files/pr2.lua
index e770d41..87ea711 100644
--- a/cartographer_ros/configuration_files/pr2.lua
+++ b/cartographer_ros/configuration_files/pr2.lua
@@ -44,6 +44,6 @@ TRAJECTORY_BUILDER_2D.use_imu_data = false
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.15
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(35.)
 
-SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
+POSE_GRAPH.optimization_problem.huber_scale = 1e2
 
 return options
diff --git a/cartographer_ros/configuration_files/revo_lds.lua b/cartographer_ros/configuration_files/revo_lds.lua
index 2623ac1..fb328e0 100644
--- a/cartographer_ros/configuration_files/revo_lds.lua
+++ b/cartographer_ros/configuration_files/revo_lds.lua
@@ -49,8 +49,8 @@ TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window =
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
 TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
 
-SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
-SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
-SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65
+POSE_GRAPH.optimization_problem.huber_scale = 1e2
+POSE_GRAPH.optimize_every_n_scans = 35
+POSE_GRAPH.constraint_builder.min_score = 0.65
 
 return options
diff --git a/cartographer_ros/configuration_files/taurob_tracker.lua b/cartographer_ros/configuration_files/taurob_tracker.lua
index f71b50f..c4688f8 100644
--- a/cartographer_ros/configuration_files/taurob_tracker.lua
+++ b/cartographer_ros/configuration_files/taurob_tracker.lua
@@ -44,11 +44,11 @@ TRAJECTORY_BUILDER_3D.submaps.num_range_data = 40.
 
 MAP_BUILDER.use_trajectory_builder_3d = true
 MAP_BUILDER.num_background_threads = 7
-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
-SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.62
-SPARSE_POSE_GRAPH.constraint_builder.log_matches = true
+POSE_GRAPH.optimization_problem.huber_scale = 5e2
+POSE_GRAPH.optimize_every_n_scans = 40
+POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
+POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 10
+POSE_GRAPH.constraint_builder.min_score = 0.62
+POSE_GRAPH.constraint_builder.log_matches = true
 
 return options