Check out iSAM, my recent work on SLAM

Loop Closing

Publications

“A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM” by M. Kaess and F. Dellaert. In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Barcelona, Spain), Apr. 2005, pp. 645-650. Details. Download: PDF.
“Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig” by M. Kaess and F. Dellaert. submitted to Computer Vision and Image Understanding, CVIU, 2008. Details.

So far we have applied our loop closing algorithm to laser data. However, my goal is to use this for visual SLAM. Before loop closing

After loop closing

Michael Kaess
Center for Robotics and Intelligent Machines, Georgia Tech	GT CoC IC GVU RIM@GT BORG