Pollen Robotics posts Microduck deep dives on mapping and foot-based odometry

Two Microduck engineering articles listed by Pollen Robotics cover onboard mapping and relocalization with an 8×8 depth sensor, and contact odometry from two feet and an IMU. The company describes tracking movement without wheel encoders or a positioning system. In a separate post, @Thom_Wolf claims the robot relocalizes within 2 centimeters after being carried 1.5 meters; that measurement does not appear in the blog listing.