What changed
- Added keyframe insertion criteria.
- Linked tracking loop to local map update.
- Introduced outlier pruning in map points.
What broke
- Tracking resets were still triggered on low-texture transitions.
What was learned
- A stricter keyframe policy improved local stability.
- Failure handling is still sensitive to texture-poor segments.
Next
- Add relocalisation candidate scoring.
- Benchmark sequence-level drift against a fixed baseline.