We are using ARKit in an app we are developing. When we are trying to detect a plane we get crashes like these: It does not happen every time, but maybe every 10:th time. Can this be a bug in ARKit, or are we somehow using it wrong that occasionally triggers an exception? Index out of range in T &re::DynamicArray<re::Optional<re::ProbeManager::ProbeSlice>>::operator[](size_t) [T = re::Optional<re::ProbeManager::ProbeSlice>]. index = 1008, maximum = 7 2022-04-28 08:02:37.994041-0700 Volumental[3334:610233] Index out of range in T &re::DynamicArray<re::Optional<re::ProbeManager::ProbeSlice>>::operator[](size_t) [T = re::Optional<re::ProbeManager::ProbeSlice>]. index = 1008, maximum = 7 This one seems to be related to the computer vision algorithms: Thread 161 Queue : SlamEngine (serial) #0 0x00000001c350b210 in ___lldb_unnamed_symbol65302$$AppleCV3D () #20 0x00000001075563b4 in _dispatch_client_callout () #21 0x000000010755e6fc in _dispatch_lane_serial_drain () #22 0x000000010755f2c4 in _dispatch_lane_invoke () #23 0x000000010756092c in _dispatch_workloop_invoke () #24 0x000000010756be20 in _dispatch_workloop_worker_thread () #25 0x00000001f15af0f4 in _pthread_wqthread () Enqueued from FeatureExtractor (Thread 154) Queue : FeatureExtractor (serial) #0 0x0000000107557b4c in dispatch_group_async_f () #1 0x00000001c24cdb68 in ___lldb_unnamed_symbol23076$$AppleCV3D () #2 0x00000001c24d12e0 in ___ #19 0x00000001075563b4 in _dispatch_client_callout () #20 0x000000010755e6fc in _dispatch_lane_serial_drain () #21 0x000000010755f2c4 in _dispatch_lane_invoke () #22 0x000000010756092c in _dispatch_workloop_invoke () #23 0x000000010756be20 in _dispatch_workloop_worker_thread () #24 0x00000001f15af0f4 in _pthread_wqthread () #25 0x00000001f15aee94 in start_wqthread () Enqueued from FeatureExtractor (Thread 154) Queue : FeatureExtractor (serial) #0 0x0000000107557b4c in dispatch_group_async_f () #1 0x00000001c2a9088c in ___lldb_unnamed_symbol41888$$AppleCV3D () #8 0x00000001075563b4 in _dispatch_client_callout () #9 0x000000010755e6fc in _dispatch_lane_serial_drain () #10 0x000000010755f2c4 in _dispatch_lane_invoke () #11 0x000000010756092c in _dispatch_workloop_invoke () #12 0x000000010756be20 in _dispatch_workloop_worker_thread () #13 0x00000001f15af0f4 in _pthread_wqthread () #14 0x00000001f15aee94 in start_wqthread () Enqueued from com.apple.arkit.capture (Thread 154) Queue : com.apple.arkit.capture (serial) #0 0x0000000107557b4c in dispatch_group_async_f () #1 0x00000001c31e9700 in ___lldb_unnamed_symbol55636$$AppleCV3D () #28 0x00000001b568b5e4 in -[ARWorldTrackingTechnique processData:] () #29 0x00000001b568a9ec in -[ARParentTechnique processData:onTechniques:] () #30 0x00000001b568c664 in -[ARParentTechnique processData:] () #31 0x00000001b568a9ec in -[ARParentTechnique processData:onTechniques:] () #32 0x00000001b568c664 in -[ARParentTechnique processData:] () #33 0x00000001b568d500 in -[ARSession sensor:didOutputSensorData:] () #34 0x00000001b568ce24 in -[ARImageSensor _dispatchImageData:] () #35 0x00000001b56a4b9c in -[ARImageSensor dataOutputSynchronizer:didOutputSynchronizedDataCollection:] () #36 0x000000019f4901e0 in __74-[AVCaptureDataOutputSynchronizer _dispatchSynchronizedDataWithTimestamp:]_block_invoke () #37 0x00000001075546d4 in _dispatch_call_block_and_release () #38 0x00000001075563b4 in _dispatch_client_callout () #39 0x000000010755e540 in _dispatch_lane_serial_drain () #40 0x000000010755f2c4 in _dispatch_lane_invoke () #41 0x000000010756092c in _dispatch_workloop_invoke () #42 0x000000010756be20 in _dispatch_workloop_worker_thread () #43 0x00000001f15af0f4 in _pthread_wqthread () #44 0x00000001f15aee94 in start_wqthread ()