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We present a unified method for recovering from tracking failure and closing loops in real time monocular simultaneous localisation and mapping. Within a graph-based map representation, we show that recovery and loop closing both reduce to the creation of a graph edge. We describe and implement a bag-of-words appearance model for ranking potential loop closures, and a robust method for using both structure and image appearance to confirm likely matches. The resulting system closes loops and recovers from failures while mapping thousands of landmarks, all in real time. 1
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Eade et al. (2008) studied this question.