A problems about position tracking and relocation

I want to track the position in a known scene. The scene is composed of some walls, and there will be visual tags for positioning.
But I think that simple position tracking will lead to a continuous increase in cumulative error. How can I use visual tags and known wall information for location tracking?

Hi @yuanlu
if the camera is operating always in the same environment you can save the acquired Area Map and recall it when your software restarts.
In this way, the camera tries to re-localize itself in the known environment to fix the position estimation and remove the drifts.
If you add easily identifiable targets in the environment they can be used as a good visual reference to be tracked.

Furthermore, you can also add April tags in known positions and use them to initialize the position of the positional tracking module: