What your robot see and how it affect to navigation?
In our case the robot uses only limited sequence of images from camera for navigation. The AVM Navigator application just tries to recognize images so that be able to understand robot location. And if you show in route training process of some image sequence (just lead your robot in "Marker mode") then in automatic navigation mode the robot should have possibility to see the same sequence of images without anyone changes. Otherwise AVM Navigator will not be able to recognize images and it will cause to fail in localization and navigation.