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Hello, I'm not sure if it is what you want but you can use the SLAM for localization.
You can use hector_mapping (hector_slam), I know it is possible to use it without odometry.
There is also another algorithm for SLAM: slam_gmappping (gmapping) but I don't know if it is possible to use it without odometry.
You can find all the information about those 2 methods on the ros wiki (by typing hector_slam and gmapping).

I hope it will help you,
lfr

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