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. Fig, Comparison between the previous and the novel evolution model on the first loop-closure of the sequence We can consider on this 1.5m of the run four loop-closure location. The loop-closure detected by the novel algorithm are : 46-78, 47-79, 48-80 which correspond to the ground truth. The loop-closure detected by the previous model are 46-79 and 48-80 which are visually correct but are inconsistent with the robot trajectory as they present a gap between detections

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