I want not aware of any implementation with FastSLAM (visual) applied to map
large areas. FastSLAM doesn't scale well therefore the focus on SFM
techniques. As far as loop closing is concerned FABMAP could be used.
http://www.robots.ox.ac.uk/~mobile/wikisite/pmwiki/pmwiki.php?n=Software.FABMAP

A similar result is achieved using the place_recognizer and stereo
information in the vslam_system, as according to a recent paper in IJRR.

On Wed, Jun 30, 2010 at 4:23 AM, hudvin <hudvin@gmail.com> wrote:

>
> Can you recomend some tested and working SLAM(FastSLAM) libs? I need: near
> real time, stereo images  and odometry as input data, loops closing, large
> areas support. I want to make some experiments.
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>
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