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

- Source: 3D视觉工坊 · 微信公众号
- Published: 2026-10-16T16:00:00.000Z
- RoboHot: https://robohot.news/en/items/j4x873mgcdd9pwotncq3i0jko
- Original: https://mp.weixin.qq.com/s?__biz=MzU1MjY4MTA1MQ==&mid=2247752241&idx=1&sn=2140bfb7e69f74e83cff1eb1c34d8b5b&chksm=facea49cec4eea29c7bb3754fa5fd523dd17c53e9286c068bbc700fb5f1bae2c87a1113b144e&scene=126&sessionid=1792241050#rd

## Summary

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.