diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
index 4c46decb39e52..139f7774b42b3 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
@@ -95,6 +95,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
   const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height;
   const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size;
   const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size;
+  // Reserve a certain amount of memory in advance for performance reasons
   for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) {
     raw_pointcloud_angle_bin.reserve(raw_reserve_size);
   }
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
index 6d45f768cd182..8a609077b8d3c 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -110,6 +110,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
   const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height;
   const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size;
   const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size;
+  // Reserve a certain amount of memory in advance for performance reasons
   for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) {
     raw_pointcloud_angle_bin.reserve(raw_reserve_size);
   }
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index 2a726eb50faec..2f2b330e2df26 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -147,7 +147,7 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw(
   bool is_obstacle_transformed = false;
   // Prepare for applying height filter
   if (use_height_filter_) {
-    // make sure that frame is base_link
+    // Make sure that the frame is base_link
     if (input_raw_msg->header.frame_id != base_link_frame_) {
       if (!utils::transformPointcloud(*input_raw_msg, *tf2_, base_link_frame_, trans_input_raw)) {
         return;