Odometry error with RTABMAP on KITTI Data

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I am trying to run RTABMAP with KITTI Dataset - kitti_2011_10_03_drive_0027_synced.bag, it works well for first ~35 seconds but after that it gives errors in generating odometry - Not enough inliers.

[ WARN] (2022-12-04 11:57:13.253) OdometryF2M.cpp:557::computeTransform() Registration failed: "Not enough inliers 19/20 (matches=72) between -1 and 267"

I have tried changing feature detection method and its respective parameters like maximum number of points, window size, etc. but still I am unable to resolve this error. How to resolve this error?

PS. I have already tried changes as per this post: https://answers.ros.org/question/3301...