Issues with features appearing as two different features when revisiting an area using RTABMAP

[GraysonWylie1]

I am running .bag file collected using a D455 camera through RTABMAP's Slam feature to map a small forested area. My collection path is circular, but when I complete the circle and revisit an area that has already been recorded by the camera, the features (trees) don't register as the same tree. There will be two or three trees where only one exists. Any suggestions on RTABMAP parameter tuning to fix this issue would be greatly appreciated. Thanks!

[matlabbe]

If loop closures were not detected automatically, you could try to add manually them with rtabmap-databaseViewer (or Tool->Edit Database in standalone app). Open Constraint View, then browse images from the beginning and the end of the sequence looking at the same stuff. Click on Add Constraint. If it fails, you can adjust parameters under Core Parameters view -> Vis sub panel. To try different visual features, you will need to check RGBD/LoopClosureReextractFeatures under Core Parameters.