Tracking Status

Tracking status indicates the instantaneous state of a pose estimation, explained in the table below.

Tracking Status

Description

0

Not Initialised

The system has not discovered sufficient landmarks to begin tracking.

1

Tracking OK

Tracking is OK.

2

Tracking LOST

The system can not locate sufficient landmarks to continue tracking.

3

Relocalised

The system has regained tracking and recovered its position on the map.

4

Loop Closure

A loop closure is detected in this frame.

Below is a state transition flow diagram of the tracking status on SLAM.

_images/tracking_status.png

When SLAM is running, the status should be fixed to Tracking OK most of the time. Otherwise, there may be an issue with the tracking, due to environments that are too dark, featureless walls or insufficient landmarks within a threshold distance.

Pose estimates when the system is Not Initialised or Tracking LOST are to be considered unreliable.