Complex sentence: To function in practice, intrinsic localization relies on a priori knowledge of the scanning instruments, as well as on sensor data overlap employing simultaneous localization and mapping (SLAM) methods.
Split into simpler sentences: To function in practice, intrinsic localization relies on two things. First, a priori knowledge of the scanning instruments, and second, on sensor data overlap employing simultaneous localization and mapping (SLAM) methods.