Appearance-based SLAM with map loop closing using an omnidirectional camera

Appearance-based localization research has been very active recently. However, the assumption that a map of an environment is available a prior is often invalid due to dynamic nature of the surrounding appearance. This paper presents a simultaneous localization and map-building (SLAM) system that is able to incrementally build a map and detect a visited location, i.e. a loop. The system is able to produce reasonable mapping accuracy even when operating a large area.