Computer Vision Primer
September 7, 2026
Loop Closure Primer — Fixing a SLAM System's Drift All at Once, Around a Loop
Loop closure is the process of recognizing that a robot has returned to a previously visited place, and distributing the accumulated self-localization error across the whole map. This article systematically explains place recognition, image retrieval, geometric verification, pose-graph optimization, defenses against false positives, and current SLAM implementations and research.
Fundamentals · 5 min
