Plane Detection Anchoring and Limitations

Hi. I am trying to create a Plane Detection based AR project. My main issue is that does it recognise a plane only once? Second is the anchoring. If I place my model on the desk and then I move my camera under the desk and then back up again, the model is not in its original position. Is there a workaround for it?
This is the project that I am utilising.

Our SLAM engine only tracks a single horizontal plane.

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Yes but lets say I shake my screen a lot, the models position changes. Is it one of the few limitations too?

It really depends on the surface in view. Surfaces with lots of detail and tracking points result in less drift.