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Shadows can be indeed very challenging for visual loop closure detection. There is no way in rtabmap to know if some parts of the image are shadows or not.

With its default parameters, rtabmap extracts features only if corresponding depth pixel is valid. The general approach is to filter the depth image where we don't want features extracted. If you could know from another approach (e.g., deep learning) which parts of the image are shadows, the corresponding mask could be applied to depth image so that rtabmap doesn't extract features from shadows.

cheers,
Mathieu