diff --git a/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
deleted file mode 100644
index 13a3ccd..0000000
--- a/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h"
-
-#include "glog/logging.h"
-
-namespace cartographer {
-namespace mapping {
-namespace scan_matching {
-
-bool PerformGlobalLocalization(
-    const float cutoff, const sensor::AdaptiveVoxelFilter& voxel_filter,
-    const std::vector<FastCorrelativeScanMatcher2D*>& matchers,
-    const sensor::PointCloud& point_cloud,
-    transform::Rigid2d* const best_pose_estimate, float* const best_score) {
-  CHECK(best_pose_estimate != nullptr)
-      << "Need a non-null output_pose_estimate!";
-  CHECK(best_score != nullptr) << "Need a non-null best_score!";
-  *best_score = cutoff;
-  transform::Rigid2d pose_estimate;
-  const sensor::PointCloud filtered_point_cloud =
-      voxel_filter.Filter(point_cloud);
-  bool success = false;
-  if (matchers.empty()) {
-    LOG(WARNING) << "Map not yet large enough to localize in!";
-    return false;
-  }
-  for (auto& matcher : matchers) {
-    float score = -1;
-    transform::Rigid2d pose_estimate;
-    if (matcher->MatchFullSubmap(filtered_point_cloud, *best_score, &score,
-                                 &pose_estimate)) {
-      CHECK_GT(score, *best_score) << "MatchFullSubmap lied!";
-      *best_score = score;
-      *best_pose_estimate = pose_estimate;
-      success = true;
-    }
-  }
-  return success;
-}
-
-}  // namespace scan_matching
-}  // namespace mapping
-}  // namespace cartographer
diff --git a/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
deleted file mode 100644
index 26a9823..0000000
--- a/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
-
-#include <vector>
-
-#include "Eigen/Geometry"
-#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
-#include "cartographer/sensor/internal/voxel_filter.h"
-
-namespace cartographer {
-namespace mapping {
-namespace scan_matching {
-
-// Perform global localization against the provided 'matchers'. The 'cutoff'
-// specifies the minimum correlation that will be accepted.
-// This function does not take ownership of the pointers passed in
-// 'matchers'; they are passed as a vector of raw pointers to give maximum
-// flexibility to callers.
-//
-// Returns true in the case of successful localization. The output parameters
-// should not be trusted if the function returns false. The 'cutoff' and
-// 'best_score' are in the range [0., 1.].
-bool PerformGlobalLocalization(
-    float cutoff, const sensor::AdaptiveVoxelFilter& voxel_filter,
-    const std::vector<scan_matching::FastCorrelativeScanMatcher2D*>& matchers,
-    const sensor::PointCloud& point_cloud,
-    transform::Rigid2d* best_pose_estimate, float* best_score);
-
-}  // namespace scan_matching
-}  // namespace mapping
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_