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Partially clear up Tech debt from #283

Yunus Emre Çalışkan requested to merge 283-improve-base-and-ndt-localizer into master

Description

  • For more details, see the issue which will be linked below.

This MR addresses majority of big concerns listed in #283. The non-addressed action items are left to be addressed in a post-AVP milestone as they are not critical.

Notes for Reviewer

  • Covariance stability improvement is also implemented (which was originally requested in #216 (closed)).

Checklist

  • Documentation was updated

  • Closes #283

Edited by Yunus Emre Çalışkan

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