Method and system for loop closure detection
Methods for loop closure detection performed by a processor of a robotic device may include maneuvering the robotic device through a plurality of locations, determining a location of the robotic device at each of the plurality of locations using a round trip time (RTT) measurement of a signal sent to an access point, determining whether a location of the robotic device is within a threshold distance of a previously-visited one of the plurality of locations, and performing visual loop closure detection in response to determining that the location of the robotic device is within the threshold distance of the previously-visited one of the plurality of locations.