diff --git a/include/laser/capture/capture_laser_3d.h b/include/laser/capture/capture_laser_3d.h
index 5eeb0e23622b0ec279b6b5621f5d96ad36110b3e..4e0e84f6f4deb54d8c8ae6cde43efd0b0dedd7dd 100644
--- a/include/laser/capture/capture_laser_3d.h
+++ b/include/laser/capture/capture_laser_3d.h
@@ -31,8 +31,6 @@
 
 namespace wolf
 {
-namespace laser
-{
 
 WOLF_PTR_TYPEDEFS(CaptureLaser3d);
 
@@ -49,7 +47,6 @@ class CaptureLaser3d : public CaptureBase
     pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud_;
 };
 
-}  // namespace laser
 }  // namespace wolf
 
 #endif  // CAPTURE_LASER_3d_H_
\ No newline at end of file
diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h
index 8ac0c656b4646922a25fe4198f8bef57291f9c0f..8a4e7902b2b8f3c4a8760ef90ef5df03b7dbd756 100644
--- a/include/laser/processor/processor_odom_icp_3d.h
+++ b/include/laser/processor/processor_odom_icp_3d.h
@@ -44,9 +44,6 @@
 namespace wolf
 {
 
-namespace laser
-{
-
 WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorOdomIcp3d);
 
 struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMotionProvider
@@ -168,7 +165,7 @@ class ProcessorOdomIcp3d : public ProcessorTracker, public MotionProvider
 
     void establishFactors() override;
 };
-}  // namespace laser
+
 }  // namespace wolf
 
 #endif  // SRC_PROCESSOR_ODOM_ICP_3D_H_
diff --git a/include/laser/sensor/sensor_laser_3d.h b/include/laser/sensor/sensor_laser_3d.h
index 771b96e061fd5bbe842169c6cac57c1458d3aaf3..9b9ca106bfbe6f220ea1e429ee140807d32528ec 100644
--- a/include/laser/sensor/sensor_laser_3d.h
+++ b/include/laser/sensor/sensor_laser_3d.h
@@ -27,8 +27,6 @@
 
 namespace wolf
 {
-namespace laser
-{
 
 WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorLaser3d);
 
@@ -54,8 +52,6 @@ class SensorLaser3d : public SensorBase
     ParamsSensorLaser3dPtr params_laser3d_;
 };
 
-
-}  // namespace laser
 }  // namespace wolf
 
 #endif  // SENSOR_LASER_3d_H_
\ No newline at end of file
diff --git a/include/laser/utils/laser3d_tools.h b/include/laser/utils/laser3d_tools.h
index f1c19fa21b1b2c217bcb2647522441f265f527a2..b0e2dcfd510bc083ff9e73282b427482822990cc 100644
--- a/include/laser/utils/laser3d_tools.h
+++ b/include/laser/utils/laser3d_tools.h
@@ -37,8 +37,6 @@
 
 namespace wolf
 {
-namespace laser
-{
 // _cloud_ref: first PointCloud
 // _cloud_other: second PointCloud
 inline void pairAlign(const pcl::PointCloud<pcl::PointXYZ>::Ptr                          _cloud_ref,
@@ -91,5 +89,4 @@ inline void pairAlign(const pcl::PointCloud<pcl::PointXYZ>::Ptr
     // _transform_final = _transform_final.inverse();   // Maybe we messed up
 }
 
-}  // namespace laser
 }  // namespace wolf
diff --git a/src/capture/capture_laser_3d.cpp b/src/capture/capture_laser_3d.cpp
index 3377b2910ba37c076a45a6c6dae7487403fd64a6..7df9a1b1f8c1a95aedd6000668c819976923ffe5 100644
--- a/src/capture/capture_laser_3d.cpp
+++ b/src/capture/capture_laser_3d.cpp
@@ -23,8 +23,6 @@
 
 namespace wolf
 {
-namespace laser
-{
 
 CaptureLaser3d::CaptureLaser3d(const TimeStamp& _timestamp, SensorBasePtr _sensor, pcl::PointCloud<pcl::PointXYZ>::Ptr _point_cloud)
     : CaptureBase("CaptureLaser3d", _timestamp, _sensor), point_cloud_(_point_cloud)
@@ -43,5 +41,4 @@ pcl::PointCloud<pcl::PointXYZ>::ConstPtr CaptureLaser3d::getPointCloud() const
     return point_cloud_;
 }
 
-}  // namespace laser
 }  // namespace wolf
\ No newline at end of file
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index 92e2dfdaf36b5c3b37581b6135a589e1228affab..c9104c9026b20e1f28ccb4f1d408851248e2c255 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -25,8 +25,7 @@
 
 namespace wolf
 {
-namespace laser
-{
+
 ProcessorOdomIcp3d::ProcessorOdomIcp3d(ParamsProcessorOdomIcp3dPtr _params)
     : ProcessorTracker("ProcessorOdomIcp3d", "PO", 3, _params), MotionProvider("PO", _params)
 {
@@ -187,5 +186,4 @@ void ProcessorOdomIcp3d::establishFactors()
         feature, feature, origin_laser_->getFrame(), shared_from_this(), false, TOP_MOTION);
 };
 
-}  // namespace laser
 }  // namespace wolf
\ No newline at end of file
diff --git a/src/sensor/sensor_laser_3d.cpp b/src/sensor/sensor_laser_3d.cpp
index f72ae298bdcac594a40d3cff7e61eb3e8733715a..1cb46b8b355aa6df5d6b37e9228d10e4228f1fc2 100644
--- a/src/sensor/sensor_laser_3d.cpp
+++ b/src/sensor/sensor_laser_3d.cpp
@@ -23,8 +23,6 @@
 
 namespace wolf
 {
-namespace laser
-{
 
 SensorLaser3d::SensorLaser3d(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr)
     : SensorBase("SensorLaser3d", _p_ptr, _o_ptr, nullptr, 0)
@@ -44,5 +42,4 @@ SensorBase("SensorLaser3d",
 
 SensorLaser3d::~SensorLaser3d() {}
 
-}  // namespace laser
 }  // namespace wolf
\ No newline at end of file
diff --git a/test/gtest_laser3d_tools.cpp b/test/gtest_laser3d_tools.cpp
index d0cedb247a70c58e624f1bae5130e21646de5cc3..8c5541d5f51b220ebb2c56f1a702932fe629bd8b 100644
--- a/test/gtest_laser3d_tools.cpp
+++ b/test/gtest_laser3d_tools.cpp
@@ -86,7 +86,7 @@ TEST(pairAlign, identity)
     registration_solver.setMaximumIterations(200);
 
     // Alignment
-    wolf::laser::pairAlign(pcl_ref,
+    wolf::pairAlign(pcl_ref,
                            pcl_other,
                            transformation_guess,
                            transformation_final,
@@ -136,7 +136,7 @@ TEST(pairAlign, known_transformation)
     registration_solver.setMaximumIterations(100);
 
     // Alignment
-    wolf::laser::pairAlign(pcl_ref,
+    wolf::pairAlign(pcl_ref,
                            pcl_other,
                            transformation_guess,
                            transformation_final,