Reset position periodically in difficult enviroment (tube with concreate wall completely flat...no tubes,lights, doors,ecc...)

[Cristian-wp]

Hello.
I do not know if this feature is alredy implemented, but I would like to reset the position estimated by slam to (x,y,z)=(0m,0m,0m) periodically. For example I move forward from 0=(x,y,z)=(0m,0m,0m) to point A=(x,y,z)=(3m,1m,1.5m), at this moment I would like to restart the estimation in order to go to another point B=(x,y,z)=(6m,1m,1.5m)(absolute position from O), but considering point A as the new origin. So point B will be B=(x,y,z)=(3m,0m,0m) (position of B relative to A).

Is possible to do such a thing? There are any problems of stability? Someone have already do this?