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Which rtabmap and opencv versions are you using? You could try different PnP flags with Vis/PnPFlags parameter (default 0=iterative, 1=EPNP, 2=P3P). Otherwise, we can also switch to 3D->3D estimation by setting Vis/EstimationType to 0.

Pose estimation from camera is required on loop closure detection to get a relatively good guess for scan matching. Well, if you don't want visual loop closure detection, you can set Kp/MaxFeatures=-1 to avoid extracting visual features (so no motion estimation will be done with the camera).