why in localization mode the robot pose not steady

[mantouRobot]

Hi~
      when the rtabmap in localization model, the /map to /odom are not steady, it can have over 0.2m change. Is it normal?
      Thank u so much.

[matlabbe]

Hi,

It depends on which image in the map it is localized and if the visual features matched are far or not. If matching to far visual features, larger error will be seen.

cheers