The package provides two types of localizations:
- Extended Kalman filter: Fuses GNSS and IMU data for decimeter level accuracy in simulation.
- NDT Matching: Pylot does not implement NDT matching, but instead provides and operator that bridges between the Autoware’s NDT matching implentation and the pipeline. This operator can be used on real-world vehicles on which Autoware’s NDT matching is deployed.
--localization: Enables the localization component of the pipeline. If this flag is
False, then the pipeline uses the perfect localization it receives from the simulator.