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* M. Labbé and F. Michaud, “[Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://arxiv.org/abs/2407.15304),” in _IEEE Transactions on Robotics_, vol. 29, no. 3, pp. 734-745, 2013. ([IEEE Xplore](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u-x6o8ySG0sC))
* M. Labbé and F. Michaud, “[Memory management for real-time appearance-based loop closure detection](https://arxiv.org/abs/2407.15890),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2011, pp. 1271–1276. ([IEEE Xplore](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u5HHmVD_uO8C))
* Visit [RTAB-Map's page on IntRoLab](https://introlab.3it.usherbrooke.ca/index.php/RTAB-Map) for detailed information on the loop closure detection approach and related datasets.
+ * Visit this [page](https://github.com/introlab/rtabmap/tree/master/archive/2010-LoopClosure) for usage example of the CLI tool that van be used to evaluate only RTAB-Map's loop closure detector on new datasets.
## Install
