This video demonstrates building then tracking a full 360 degree map of a room.
About halfway through the video, expansion is disabled and no new points are added. Tracking is working entirely with the existing map, despite moving to areas that weren't visited during the mapping process.
Parts of the room are underexposed, and others (the windows) are overexposed. Tracking moves through an increasingly difficult series of motions, with 100% of frames successfully tracked.
Run on a Macbook Pro, tracking time is around 3-4 ms. Recorded in real-time from start to finish.