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Can't see clearly—can the robot still localize? SLAM begins using "contact" to find its position

SLAM is beginning to use contact information between the robot and the environment as a basis for localization, supplementing pose estimation with kinematics and foot-ground constraints when vision and LiDAR are limited. KD-RIEKF from IROS 2025 was validated on the Unitree Go2, and under its test conditions, both position and attitude estimation errors decreased when the robot moved at high speed.

Part of the event: Explaining the technical roadmap for integrating contact information into SLAM localization

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