Ways to measure bad tracking / scene drifting?

Hi, I'm using ARKit 1.5 for a project. Unfortunately the lighting is not ideal in the space we're setting up the project and once in a while the app struggles badly with any camera tracking, causing the scene to drift of or shake uncontrollably back and forth and need to be restarted. Is there a way to measure the tracking somehow so we can add an automatic scene restart if the tracking fails? Feels like it should be possible but I have no idea how. Cheers!