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Localization pipeline overview. OSS and IMU data feed the Extended Kalman Filters (EKFs); EKF1 produces an odometry estimate which is sent to the Informed Adaptive Monte Carlo Localization (IAMCL) module. By comparing LiDAR data with the pre-built map, IAMCL outputs a pose estimate that is then sent to EKF2, a smoothing filter with a high-frequency output. The green arrows indicate the initialization procedure described in Section 5.2.1.
