Number of inliers decreases significantly with small movements

[trixr4kdz]

I switched to using the vo_accurate on the live.launch file instead of the default vo_fast.yaml because I kept getting the warning that it requires at least 100 features. But now when I move my camera slightly, I would receive the warning that it needs 40 inliers minimum followed by "RESET". Afterwards, no more features would be detected as if the software just stopped running. What would be causing this?

Here is the output I would get:

[ INFO] [1516841674.266239524]: Init: KLT tracked 88 features
[ INFO] [1516841674.266404290]: Init: KLT 48.7074px average disparity.
[ INFO] [1516841674.310097092]: Init: KLT tracked 88 features
[ INFO] [1516841674.310222569]: Init: KLT 50.6944px average disparity.
[ INFO] [1516841674.524245091]: Init: Homography RANSAC 15 inliers.
[ WARN] [1516841674.524431857]: Init WARNING: 40 inliers minimum required.
[ INFO] [1516841674.524596910]: RESET

EDIT: There doesn't seem to be much difference between vo_fast and vo_accurate since I would still get to the same RESET message as above

[trixr4kdz]

I realize that I have to keep the camera steady for maybe 2-5 seconds in order to get the following message on my terminal to appear:

[ INFO] [1517835347.303828141]: Init: Homography RANSAC 96 inliers.
[ INFO] [1517835347.304043662]: Init: Selected second frame, triangulated initial map

Afterwards, the package seems to not have the inlier-RESET message anymore. However, as with the issues I've seen here, I am getting the RELOCALIZING FRAME if the camera moves too much.