Autoware.Auto ndt_localizer "stucks" at a little bit repeated point cloud shape situation [closed]
I faced with strange issue, i can't build point cloud map or use localization on map that i already built with other method. I try to use ndt_mapper from Autoware.Auto and there is a trouble with localization on quite symmetric or little bit repeated shape of observed point cloud. 
For example here is two different point clouds (captured in distance of 3 meters) that localizer sense as "the same observation point". In fact i used the same data for mapping this place with ndt_mapper from Autoware.AI and there wasn't any troubles with these small symmetrics. But i can't use even ndt_localizer from Autoware.Auto on this map(created with Autoware.AI ndt_mapper) becouse it also stucks. I tried to tweak different newton's optomizer parameters and scan_downsampler voxel size for a week, but i can't find any workable configuration. Maybe i miss some details, but now i dont see any obvious reasons of this issue. Also here i leave two videos of mapping (stucking can be seen at 2:05) and localization processes, that can clarify explain my issue. Also here is my BAG that i used for mapping and localization, and PCD map that i built with Autoware.ai ndt_mapper. Maybe somebody can help me with finding this issue reason, anyway thank you in advance for your help.
P.S. It's VLP-16 live data in bag file. Docker image auto_ade-lgsvl_foxy_2020.06.
