A Loop Selection Front-end for Underwater Visual GraphSLAM

This paper presents an algorithm to reject false loops ready to be used as a front-end for GraphSLAM. The proposal operates in two steps. The first one checks each loop independently to reduce the computational cost of the second one, which jointly checks the consistency of several loops. The experiments show the ability of this algorithm to detect wrong loops, favourably comparing to a previously existing approach in terms of final graph quality and time consumption.