Why does this situation always occur in long corridors or outdoor environments after the initial position is given? offer a new guess please ,However, sometimes this situation does not occur indoors. Is it because there are more indoor objects, so there are more matching feature points?
Why does this situation always occur in long corridors or outdoor environments after the initial position is given? offer a new guess please ,However, sometimes this situation does not occur indoors. Is it because there are more indoor objects, so there are more matching feature points?![AD5FBD659811842F7AFF9A625E8E8375](https://user-images.githubusercontent.com/94283813/227721944-ba018df0-73ee-41b2-9d24-3710b49a2b10.png)