The experts on RealSense SLAM will likely be around here on the forum from Monday onward, unless they are reading today in their free time. In the meantime, you might find some interest in a recent discussion about resetting drift if you haven't seen it already. gGod luck!
This message was posted on behalf of Intel Corporation
Thanks for contacting us.
Did you check the thread provided by MartyG? Additionally, please take a look at the “Known limitations” section on this site: Release Notes for Intel® RealSense™ SLAM Library in order to take that into consideration for your tests.
thank you very much for the hint on the relocalization. Currently, I am implementing relocalization on my own using some experimental ideas... However, I rely on the VINS odometry provided by the RealSense. Thus, the better the odometry, the better the final result.
The "known limitation" items gave me at least some hint on the issue.