There are 2 cases where a VSLAM may not work perfectly:
– Less textured scenes (example: a white wall fills the entire field of view of the camera)
– In total darkness
But these 2 cases can be overcome.
For less-textured scenes, a simple data fusion with a wheel odometry solves the problem.
Obscurity: it is important to note that Jack Slam will function correctly until near darkness.
For total darkness, a simple LED illuminating the camera’s field of view solves the problem.