If there is absolutely no difference between the ceiling of the 2 aisles, then Dragonfly won’t be able to relocate itself. The same happens if the difference between the ceiling of the 2 aisles is only given by some box, object or other items on the shelves/racks (which location changes over time). Basically Dragonfly has the same limitations that would have a human being when looking at 2 “almost identical” environments. In these situations the only way to make Dragonfly work is to reduce the field of view of the camera and introduce some artificial features to the ceiling like those described in this article.