Visual localization estimation is highly depended on the quality of video frames or captured images. Estimation quality may be affected by the poor visibility. low background texture and overexposure. Low quality frames with blurred edges and poor contrast pose tremendous difficulties for corner point detection in SLAM impacting the overall accuracy of estimation. https://www.roneverhart.com/Goetze-s-Black-Licorice-Caramel-Creams-Candy-5LB-Bag/