about the loop closure lib

[mantouRobot]

Hi~
      Does rtabmap's loop closure use third lib or do itself? After I read rtabmap paper I found that Rtabmap's  loop closure use the bag of words model and bayes filter to decrease the compare time. But for now most SLAM open source use the lib of DBoW2 to do the loop closure. Which method of loop closure is better?
      Thank u so much~

[matlabbe]

Hi,

RTAB-Map is originally a loop closure detection approach, like FAB-MAP or DBoW2, so it uses its own approach. RTAB-Map is compared to these approaches in Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation paper, in particular look at the Table II and corresponding citations in brackets.

cheers,
Mathieu