Abstract: Systems and methods for using transmission sensor(s) in localization of an autonomous vehicle (“AV”) are described herein. Some implementations receive instance(s) of transmission sensor data generated by transmission sensor(s) of the AV, generate pose instance(s) of a pose of the AV based on the instance(s) of the transmission sensor data, and cause the AV to be controlled based on the pose instance(s). In some of those implementations, the pose instance(s) can be generated based on steering data the AV that indicates steering angle(s) of the autonomous, and that temporally correspond to the instance(s) of the transmission sensor data. In various implementations, the pose instance(s) may only be generated or utilized based on the instance(s) of the transmission sensor data (and optionally the steering data) in response to detecting an adverse event at the AV.