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Hi,

If the moved object has a lot of discriminative visual features and it takes a big part of the field of view, it may cause a wrong global localization when seen again in a different location. Example in this video: https://www.youtube.com/watch?v=A8v70DZxLF8. The same problem can happen between locations looking very similar. As shown in the video, it is possible to detect such loop closure detection / localization failures with approaches keeping the map's graph consistent.

cheers