Map gets lost after some time on KITTI Run 007 at turns

[col761-22]

Hi,

I am trying to run cartographer using KITTI run 007. I preprocesed the dataset using a preprocessing step that turns the data into a range image of size [3,60,512]. The cartograher works well in straight lines but blunders at turns. I am clueless as to what coud be the issue here and tried different tricks with respect to the lua configuration, but didnt work. Could someone help here. I am posting the rosbag and the lua file here for refernece. KITTI bag used: kitti-run-007-bag

Lua file used Lua

This is the result using the bag with the given configuration. The map seems to get lost at the turns.

Requesting your help here.

Thanks. Prashant