diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
index f25009d47bdcc..dffbda18d0c8a 100644
--- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
@@ -201,11 +201,10 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
   }
 
   // Third step: Overwrite occupied cell
-  for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) {
-    auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index);
+  for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) {
     for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) {
-      const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-      setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE);
+      const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index);
+      setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE);
 
       if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) {
         continue;
diff --git a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
index a2400fb3c81b2..39224bc7e3a69 100644
--- a/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
@@ -261,11 +261,10 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
   if (pub_debug_grid_) converter.addLayerFromCostmap2D(*this, "added_unknown", debug_grid_);
 
   // Third step: Overwrite occupied cell
-  for (size_t bin_index = 0; bin_index < obstacle_pointcloud_angle_bins.size(); ++bin_index) {
-    auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index);
+  for (auto & obstacle_pointcloud_angle_bin : obstacle_pointcloud_angle_bins) {
     for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) {
-      const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-      setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE);
+      const auto & obstacle_point = obstacle_pointcloud_angle_bin.at(dist_index);
+      setCellValue(obstacle_point.wx, obstacle_point.wy, cost_value::LETHAL_OBSTACLE);
 
       if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) {
         continue;