ROVER verifies loop closures by comparing the robot trajectory before and after adding each candidate loop to pose graph optimization, accepting only loops that produce small trajectory changes.
Switchable constraints for robust pose graph slam,
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ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments
ROVER verifies loop closures by comparing the robot trajectory before and after adding each candidate loop to pose graph optimization, accepting only loops that produce small trajectory changes.