localized and non-localized maps for better tracking results

I'm trying to create a scene using ArCore where I instantiate a gameobject when the app starts tracking, and I would like that, after the tracking is lost and resumed, my gameobject remains in the position it was before tracking was lost.

Positioning my gameobject at the first tracking (using this code: Pose firstpose = m_AllPlanes[0].CenterPose results in an undesiderable behavior, because probably the first tracked plane isn't so much stable.
I read in this page: https://github.com/google-ar/arcore-unity-sdk/issues/37 that ArCore has "Localized" and "non-localized" maps, and in the first case the gameobject remain always in position also after tracking is lost and resumed; this can be seen in the HelloAr scene, where some instantiated Droids disappear and some remain after tracking lost and resumed.

Do you know how to understand when the tracking is stable and the created maps are "localized" so I can Instantiate my gameobject only in that case?
Thanks