A loop closure technique for monocular SLAM with locally planar landmarks

We propose a loop closure detection technique for a monocular SLAM system proposed in [1], which uses planar landmarks to describe 3-D environments. In [1], the camera state and the landmark plane normal is represented as SE(3) and SO(3), respectively, which are both Lie group. Loop closing techniques for feature map which consist of Lie group elements should consider the geometrical properties of Lie group.