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During localization, the map should not disappear even if the camera is obstructed. Do you refer to move_base local costmap or the grid_map published by rtabmap? In localization mode, rtabmap doesn't update the map. It may add current seen obstacles but they should disappear if the obstacle is not anymore in the field of view of the sensor. If you have screenshots, it may help to see the problem.

cheers

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