Loop Closure using AnyLoc Visual Place Recognition in DPV-SLAM
Abstract
Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique, as a replacement for the classical Bag of Visual Words (BoVW) loop detection method. In contrast to BoVW, which relies on handcrafted features, AnyLoc utilizes deep feature representations, enabling more robust image retrieval across diverse viewpoints and lighting conditions. Furthermore, we propose an adaptive mechanism that dynamically adjusts similarity threshold based on environmental conditions, removing the need for manual tuning. Experiments on both indoor and outdoor datasets demonstrate that our method significantly outperforms the original DPV-SLAM in terms of loop closure accuracy and robustness. The proposed method offers a practical and scalable solution for enhancing loop closure performance in modern SLAM systems.
Cite
@article{arxiv.2601.02723,
title = {Loop Closure using AnyLoc Visual Place Recognition in DPV-SLAM},
author = {Wenzheng Zhang and Kazuki Adachi and Yoshitaka Hara and Sousuke Nakamura},
journal= {arXiv preprint arXiv:2601.02723},
year = {2026}
}
Comments
Accepted at IEEE/SICE International Symposium on System Integration(SII) 2026. 6 pages, 14 figures