The blue line doesn't seem to be localized. By "re-localize periodically", I mean the robot should revisit locations in the map to re-localize. If the robot goes in a totally different corridor, it won't re-localize in that unknown corridor. Same issue would happen if the robot is navigating in a corridor that was mapped in other direction, the robot won't re-localize on images taken with a too different point of view than during the mapping. That is why I asked if there was only 1 camera looking in one direction or if lidar could be also used when mapping.
RTAB Localizes correct at the start of the system but looses the correct position after moving forwards
I cannot see that in that image as explained above. It feels it has never been localized from the start.