diff --git a/y2024/localizer/BUILD b/y2024/localizer/BUILD
new file mode 100644
index 0000000..38c8c9d
--- /dev/null
+++ b/y2024/localizer/BUILD
@@ -0,0 +1,149 @@
+load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
+load("//tools/build_rules:js.bzl", "ts_project")
+load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
+
+ts_project(
+    name = "localizer_plotter",
+    srcs = ["localizer_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+        "//frc971/wpilib:imu_plot_utils",
+    ],
+)
+
+static_flatbuffer(
+    name = "status_fbs",
+    srcs = [
+        "status.fbs",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+        "//frc971/imu_reader:imu_failures_fbs",
+    ],
+)
+
+flatbuffer_ts_library(
+    name = "status_ts_fbs",
+    srcs = ["status.fbs"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+        "//frc971/imu_reader:imu_failures_ts_fbs",
+    ],
+)
+
+static_flatbuffer(
+    name = "visualization_fbs",
+    srcs = [
+        "visualization.fbs",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":status_fbs",
+    ],
+)
+
+flatbuffer_ts_library(
+    name = "visualization_ts_fbs",
+    srcs = ["visualization.fbs"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":status_ts_fbs",
+    ],
+)
+
+cc_library(
+    name = "localizer",
+    srcs = ["localizer.cc"],
+    hdrs = ["localizer.h"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":status_fbs",
+        ":visualization_fbs",
+        "//aos/containers:sized_array",
+        "//aos/events:event_loop",
+        "//aos/network:message_bridge_client_fbs",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/control_loops:pose",
+        "//frc971/control_loops/drivetrain:hybrid_ekf",
+        "//frc971/control_loops/drivetrain:improved_down_estimator",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
+        "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+        "//frc971/control_loops/drivetrain/localization:utils",
+        "//frc971/imu_reader:imu_watcher",
+        "//frc971/vision:target_map_fbs",
+        "//frc971/vision:target_map_utils",
+        "//y2024:constants",
+        "//y2024/constants:constants_fbs",
+    ],
+)
+
+cc_test(
+    name = "localizer_test",
+    srcs = ["localizer_test.cc"],
+    data = ["//y2024:aos_config"],
+    deps = [
+        ":localizer",
+        ":status_fbs",
+        "//aos/events:simulated_event_loop",
+        "//aos/events/logging:log_writer",
+        "//aos/testing:googletest",
+        "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+        "//frc971/control_loops/drivetrain:localizer_fbs",
+        "//frc971/control_loops/drivetrain/localization:utils",
+        "//y2024/constants:simulated_constants_sender",
+        "//y2024/control_loops/drivetrain:drivetrain_base",
+    ],
+)
+
+cc_binary(
+    name = "localizer_main",
+    srcs = ["localizer_main.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":localizer",
+        "//aos:init",
+        "//aos/events:shm_event_loop",
+        "//frc971/constants:constants_sender_lib",
+        "//y2024/control_loops/drivetrain:drivetrain_base",
+    ],
+)
+
+ts_project(
+    name = "corrections_plotter",
+    srcs = ["corrections_plotter.ts"],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":visualization_ts_fbs",
+        "//aos/network/www:aos_plotter",
+        "//aos/network/www:colors",
+        "//aos/network/www:proxy",
+    ],
+)
+
+cc_binary(
+    name = "localizer_replay",
+    srcs = ["localizer_replay.cc"],
+    data = [
+        "//y2024:aos_config",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    deps = [
+        ":localizer",
+        "//aos:configuration",
+        "//aos:init",
+        "//aos:json_to_flatbuffer",
+        "//aos/events:simulated_event_loop",
+        "//aos/events/logging:log_reader",
+        "//aos/events/logging:log_writer",
+        "//aos/util:simulation_logger",
+        "//y2024/control_loops/drivetrain:drivetrain_base",
+    ],
+)