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Hi,

This is a very challenging environment for visual feature tracking. The repetitive patterns everywhere and that the robot is shaky when turning make it very difficult to track correctly the features. I had limited success with those parameters:

"--delete_db_on_start --Vis/EstimationType 1 --Vis/MaxDepth 0 --GFTT/QualityLevel 0.00001 --Stereo/MinDisparity 0 --Stereo/MaxDisparity 64 --Vis/RoiRatios '0 0 0 .2' --Kp/RoiRatios '0 0 0 .2' --Odom/GuessMotion true --Vis/MinInliers 10 --Vis/BundleAdjustment 1 --OdomF2M/BundleAdjustment 1 --Vis/CorNNDR 0.6 --Vis/CorGuessWinSize 40 --GFTT/MinDistance 10 --Vis/PnPFlags 0 --Vis/PnPReprojError 1"

The first corridor was fine, but when turning at the end, there was a large checkerboard pattern on a far wall and at the same time the robot was turning (shaking), which made odometry lose track of the features and could not recover with global matching because all features would have same descriptor.

I would suggest to use more random patterns on the walls, like those.