Is there a way to get notified when ARKit relocates itself after it finds out that it has drifted? From my experience, the tracking status does not change when this happens. Also is there a way to ask ARKit to not try to relocate itself after a drift?

We recommend adding ARAnchors and associating your virtual content with ARAnchors. In case there is a drift, the session delegate session(_didUpdate:) would update the anchor such that the virtual content stays in the same location in the real world.

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