When returning to the original location, the object becomes duplicated.

[Furukawa-k]

When traveling back and forth along a straight path, SLAM may drift and result in duplicate tracks.

Is this a common phenomenon in FAST-LIVO2, which lacks loop closure functionality?

Are there any parameters that should be reviewed?

Note that this phenomenon does not occur every time. It happens about once every two runs.

The hardware configuration consists of AVIA, an internal 6-axis IMU, an RGB camera, and RTKGNSS.