diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
index 9644060..8b46045 100644
--- a/cartographer/mapping/map_builder.cc
+++ b/cartographer/mapping/map_builder.cc
@@ -88,6 +88,11 @@ int MapBuilder::AddTrajectoryBuilder(
                 trajectory_options.trajectory_builder_2d_options(),
                 trajectory_id, sparse_pose_graph_2d_.get())));
   }
+  if (trajectory_options.pure_localization()) {
+    constexpr int kSubmapsToKeep = 3;
+    sparse_pose_graph_->AddTrimmer(common::make_unique<PureLocalizationTrimmer>(
+        trajectory_id, kSubmapsToKeep));
+  }
   return trajectory_id;
 }
 
diff --git a/cartographer/mapping/proto/trajectory_builder_options.proto b/cartographer/mapping/proto/trajectory_builder_options.proto
index 98d50f5..5366a6f 100644
--- a/cartographer/mapping/proto/trajectory_builder_options.proto
+++ b/cartographer/mapping/proto/trajectory_builder_options.proto
@@ -24,4 +24,5 @@ message TrajectoryBuilderOptions {
       trajectory_builder_2d_options = 1;
   optional mapping_3d.proto.LocalTrajectoryBuilderOptions
       trajectory_builder_3d_options = 2;
+  optional bool pure_localization = 3;
 }
diff --git a/cartographer/mapping/trajectory_builder.cc b/cartographer/mapping/trajectory_builder.cc
index 0eee6ed..a223804 100644
--- a/cartographer/mapping/trajectory_builder.cc
+++ b/cartographer/mapping/trajectory_builder.cc
@@ -31,6 +31,8 @@ proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
   *options.mutable_trajectory_builder_3d_options() =
       mapping_3d::CreateLocalTrajectoryBuilderOptions(
           parameter_dictionary->GetDictionary("trajectory_builder_3d").get());
+  options.set_pure_localization(
+      parameter_dictionary->GetBool("pure_localization"));
   return options;
 }
 
diff --git a/configuration_files/trajectory_builder.lua b/configuration_files/trajectory_builder.lua
index 75d91ad..52338a0 100644
--- a/configuration_files/trajectory_builder.lua
+++ b/configuration_files/trajectory_builder.lua
@@ -18,4 +18,5 @@ include "trajectory_builder_3d.lua"
 TRAJECTORY_BUILDER = {
   trajectory_builder_2d = TRAJECTORY_BUILDER_2D,
   trajectory_builder_3d = TRAJECTORY_BUILDER_3D,
+  pure_localization = false,
 }